Mocherla, Edwin Paul and Netto, Winston (2018) Design of lqr-pi and mpc controllers for pitch control of a ballbot. International Journal of Mechanical Engineering and Technology, 8 (5). pp. 877-885. ISSN 0976-6340

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Abstract

statically stable robot may or may not generally be dynamically stable. A multiwheeled robot, although statically stable, dynamically may become unstable in highly inclined surfaces. Therefore, they need to have a low center of gravity and a wide base. Alternatively, a self-balancing 2-wheeled platform must yaw about its axis to travel in a desired direction. A single-wheeled robot however can move directly, without yawing, in any direction instantaneously. This paper presents a planar mathematical model and the controller design for a ball-bot system. Two controller techniques, viz., LQR-PI and MPC are designed to stabilize the Ball-bot. Comparison study based on the performance of the system with these two controllers are also done

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