Title :
LQR motion control of a ball-riding robot
Author :
Tsai, Ching-Chih ; Chan, Cheng-Kai ; Kuo, Lung-Chun
Author_Institution :
Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan
Abstract :
The paper presents techniques and design methodologies for modeling and LQR motion control of a ball-riding robot driven by three omnidirectional wheels. A completely dynamic model of the robot moving on a flat terrain is derived using Lagrangian mechanics. Two LQR controllers are synthesized to achieve station keeping and point stabilization. Through computer simulations and experimental results, both proposed controllers together with the built ball-riding robot are successfully shown to give a satisfactory control performance.
Keywords :
linear quadratic control; motion control; robot dynamics; LQR motion control synthesis; Lagrangian mechanics; ball-riding robot; flat terrain; linear quadratic regulator; point stabilization; robot dynamic model; station keeping; three omnidirectional wheels; Dynamics; Equations; Mathematical model; Mobile robots; Vehicle dynamics; Wheels; Ball-riding robot; Lagrangian mechanics; modeling; point stabilization;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on
Conference_Location :
Kachsiung
Print_ISBN :
978-1-4673-2575-2
DOI :
10.1109/AIM.2012.6265988
