Mocherlla, Edwin Paul and Netto, Winston and Jesna, Sherine V A (2017) Design of LQR controller for Ballbot and hardware implementation. In: International Conference on Information Technology and Electrical Engineering, 12/10/2017, Phuket, Thailand.
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Abstract
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. The system
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | Ballbot; LQR Controller |
| Subjects: | Engineering > MIT Manipal > Instrumentation and Control Engineering > MIT Manipal > Mechatronics |
| Depositing User: | MIT Library |
| Date Deposited: | 05 Feb 2018 11:02 |
| Last Modified: | 05 Feb 2018 11:02 |
| URI: | http://eprints.manipal.edu/id/eprint/150559 |
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