TY - GEN
T1 - Design of LQR controller for Ballbot and hardware implementation
AU - Mocherlla, Edwin Paul
AU - Netto, Winston
AU - Jesna, Sherine
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/1
Y1 - 2017/7/1
N2 - A Ballbot is a single spherical wheeled robot with single point of contact with ground. This makes the system statically unstable. It attains stability only with the help of a sophisticated controller. For the controller design and to analyze the behavior of the system, the ballbot was modelled using Lagrangian formulation and a state-space model is derived. LQR controllers for each plane of instability are designed and then tuned from simulation results and was implemented on hardware. The controller is implemented as a computer algorithm that reads/senses various physical parameters of the robot and generates a computed control signal. Ballbot structure is designed using Solidworks software and the hardware model is fabricated.
AB - A Ballbot is a single spherical wheeled robot with single point of contact with ground. This makes the system statically unstable. It attains stability only with the help of a sophisticated controller. For the controller design and to analyze the behavior of the system, the ballbot was modelled using Lagrangian formulation and a state-space model is derived. LQR controllers for each plane of instability are designed and then tuned from simulation results and was implemented on hardware. The controller is implemented as a computer algorithm that reads/senses various physical parameters of the robot and generates a computed control signal. Ballbot structure is designed using Solidworks software and the hardware model is fabricated.
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U2 - 10.1109/ICITEED.2017.8250491
DO - 10.1109/ICITEED.2017.8250491
M3 - Conference contribution
AN - SCOPUS:85049466543
T3 - 2017 9th International Conference on Information Technology and Electrical Engineering, ICITEE 2017
SP - 1
EP - 6
BT - 2017 9th International Conference on Information Technology and Electrical Engineering, ICITEE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Information Technology and Electrical Engineering, ICITEE 2017
Y2 - 12 October 2017 through 13 October 2017
ER -