Design of LQR controller for Ballbot and hardware implementation

Mocherlla, Edwin Pau and Netto, Winston and Jensa, 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: 03 Jul 2019 04:03
Last Modified: 03 Jul 2019 04:03
URI: http://eprints.manipal.edu/id/eprint/154082

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