DocumentCode :
1624534
Title :
Self-balancing and position control using multi-loop approach for ball robots
Author :
Tsai, Ching-Chih ; Juang, Ming-Han ; Chan, Cheng-Kai ; Liao, Ching-Wen ; Chan, Siang-Jyun
Author_Institution :
Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan
fYear :
2010
Firstpage :
251
Lastpage :
256
Abstract :
This paper presents a multi-loop control approach for dynamic modeling, self-balancing and position control of a ball robot (Ballbot) with inverse mouse-ball driving mechanism actuated by two independent brushless motors simultaneously. A completely non-decoupling dynamic model of the robot incorporating with viscous and static frictions is derived using Newtonian mechanics. Two multi-loop controllers are then proposed to accomplish robust self-balancing and position control (regulation) of the robot with exogenous disturbances. Computer simulations and experimental results are conducted for illustration of the effectiveness of the proposed control method.
Keywords :
Newton method; brushless machines; friction; mobile robots; position control; robot dynamics; Ballbot; Newtonian mechanics; ball robot; brushless motor; inverse mouse-ball driving mechanism; multiloop control approach; nondecoupling dynamic model; position control; self-balancing; static friction; viscous friction; Robots; Ball robot; Newtonian mechanics; modeling regulation; multi-loop; position control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Science and Engineering (ICSSE), 2010 International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6472-2
Type :
conf
DOI :
10.1109/ICSSE.2010.5551789
Filename :
5551789
Link To Document :
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