Development of ballbot lqr control system

Gwa Cheol Jeong; Jun Tae Park; Soo Yeong Yi

doi:10.5302/J.ICROS.2020.20.8003

Development of ballbot lqr control system

Gwa Cheol Jeong, Jun Tae Park, Soo Yeong Yi

Dept. of Electrical and Information Engineering

Seoul National University of Science and Technology (SNUST)

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

A ballbot has free mobility to move in all directions. It is a typical example of a dynamic system with an unstable equilibrium point, and thus it is important to design a reliable control system for it. In this study, a ballbot model is decoupled into a 2D model and analyzed using the Euler-Lagrange dynamic equations. The relationship between the wheels of the 2D model and the omni-wheels of an actual system is presented. The nonlinear dynamic system of the ballbot is linearized using the Taylor series expansion, and an LQR control with integral action is proposed. In this study, an integral controller is added to the LQR control to solve the problem due to the uncertainties in the dynamics model and to improve the stability of the ballbot control system. Experimental results are presented to validate the proposed controller.

Original language	English
Pages (from-to)	256-262
Number of pages	7
Journal	Journal of Institute of Control, Robotics and Systems
Volume	26
Issue number	4
DOIs	https://doi.org/10.5302/J.ICROS.2020.20.8003
State	Published - 2020

Keywords

Ballbot
Decoupled model
Euler-Lagrange dynamic equation
LQR control

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10.5302/J.ICROS.2020.20.8003

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title = "Development of ballbot lqr control system",

abstract = "A ballbot has free mobility to move in all directions. It is a typical example of a dynamic system with an unstable equilibrium point, and thus it is important to design a reliable control system for it. In this study, a ballbot model is decoupled into a 2D model and analyzed using the Euler-Lagrange dynamic equations. The relationship between the wheels of the 2D model and the omni-wheels of an actual system is presented. The nonlinear dynamic system of the ballbot is linearized using the Taylor series expansion, and an LQR control with integral action is proposed. In this study, an integral controller is added to the LQR control to solve the problem due to the uncertainties in the dynamics model and to improve the stability of the ballbot control system. Experimental results are presented to validate the proposed controller.",

keywords = "Ballbot, Decoupled model, Euler-Lagrange dynamic equation, LQR control",

author = "Jeong, \{Gwa Cheol\} and Park, \{Jun Tae\} and Yi, \{Soo Yeong\}",

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doi = "10.5302/J.ICROS.2020.20.8003",

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AU - Jeong, Gwa Cheol

AU - Park, Jun Tae

AU - Yi, Soo Yeong

N1 - Publisher Copyright: © ICROS 2020.

PY - 2020

Y1 - 2020

N2 - A ballbot has free mobility to move in all directions. It is a typical example of a dynamic system with an unstable equilibrium point, and thus it is important to design a reliable control system for it. In this study, a ballbot model is decoupled into a 2D model and analyzed using the Euler-Lagrange dynamic equations. The relationship between the wheels of the 2D model and the omni-wheels of an actual system is presented. The nonlinear dynamic system of the ballbot is linearized using the Taylor series expansion, and an LQR control with integral action is proposed. In this study, an integral controller is added to the LQR control to solve the problem due to the uncertainties in the dynamics model and to improve the stability of the ballbot control system. Experimental results are presented to validate the proposed controller.

AB - A ballbot has free mobility to move in all directions. It is a typical example of a dynamic system with an unstable equilibrium point, and thus it is important to design a reliable control system for it. In this study, a ballbot model is decoupled into a 2D model and analyzed using the Euler-Lagrange dynamic equations. The relationship between the wheels of the 2D model and the omni-wheels of an actual system is presented. The nonlinear dynamic system of the ballbot is linearized using the Taylor series expansion, and an LQR control with integral action is proposed. In this study, an integral controller is added to the LQR control to solve the problem due to the uncertainties in the dynamics model and to improve the stability of the ballbot control system. Experimental results are presented to validate the proposed controller.

KW - Ballbot

KW - Decoupled model

KW - Euler-Lagrange dynamic equation

KW - LQR control

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VL - 26

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EP - 262

JO - Journal of Institute of Control, Robotics and Systems

JF - Journal of Institute of Control, Robotics and Systems

IS - 4

ER -

Development of ballbot lqr control system

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Keywords

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