Balance Control of Ball and Wheel Systems via Feedback Linearization

Author

Ho, Ming-Tzu ; Lin, Hao-shuan

Author_Institution

Dept. of Eng. Sci., National Cheng-Kung Univ., Tainan

fYear

2006

fDate

13-15 Dec. 2006

Firstpage

3926

Lastpage

3931

Abstract

In this paper, a control laboratory experiment, called the ball and wheel system, is introduced. The objective of this control system is to control the wheel such that the ball is balanced around its equilibrium position. This system is inherently nonlinear and unstable. The experimental setup of this system is very simple, easy to build, and suitable for the study of the nonlinear control system. One of salient features of this system is that it is feedback linearizable. Based on feedback linearization, a nonlinear controller is designed to achieve locally asymptotic stability of the system. The experimental results are given to demonstrate and validate the effectiveness of the control scheme

Keywords

asymptotic stability; feedback; linearisation techniques; nonlinear control systems; position control; asymptotic stability; balance control; ball and wheel systems; feedback linearization; nonlinear controller; Asymptotic stability; Control design; Control systems; Laboratories; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; State feedback; USA Councils; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2006 45th IEEE Conference on

Conference_Location

San Diego, CA

Print_ISBN

1-4244-0171-2

Type

conf

DOI

10.1109/CDC.2006.376708

Filename

4177588