LQR controller of one wheel robot stabilized by reaction wheel principle

Author

Kadam, S.N. ; Seth, B.

Author_Institution

Mech. Eng. Dept., Indian Inst. of Technol. Bombay, Mumbai, India

fYear

2011

fDate

15-17 Nov. 2011

Firstpage

299

Lastpage

303

Abstract

Reactobot is a one-wheel robot developed at IIT Bombay. It is balanced by reaction wheel actuator suspended from the central axis. The Robot can get accelerated in forward or backward direction by pitching the pendulum mass within the wheel in the same direction. Turns can be- executed by tilting robot to right or left while in motion. In this paper, we describe multi-body dynamic model of the Reactobot. The mathematical model of Reactobot is developed using the Lagrangian constrained generalized formulation. Dynamic model is highly nonlinear and Jacobian linearization has been used to obtain a linear model for operation close to vertical rolling motion. LQR control scheme is proposed to design controller for linearised model. Simulation results demonstrate the effectiveness of this scheme.

Keywords

Jacobian matrices; control system synthesis; linear quadratic control; linearisation techniques; mobile robots; motion control; nonlinear control systems; robot dynamics; IIT Bombay; Jacobian linearization; LQR control scheme; Lagrangian constrained generalized formulation; Reactobot; controller design; linearised model; mathematical model; multibody dynamic model; nonlinear linearization; one-wheel robot; pendulum mass; reaction wheel actuator; reaction wheel principle; vertical rolling motion; Mathematical model; Robot kinematics; Wheels; Zirconium; LQR control; Lagrange formulation; Wheel-robot; non linear dynamics; reaction wheel stabilization;

fLanguage

English

Publisher

ieee

Conference_Titel

Instrumentation Control and Automation (ICA), 2011 2nd International Conference on

Conference_Location

Bandung

Print_ISBN

978-1-4577-1462-7

Type

conf

DOI

10.1109/ICA.2011.6130176

Filename

6130176