Van-Dong-Hai Nguyen, Minh-Phuoc Cu, Tran-Minh-Nguyet Nguyen, Thanh-Do Huynh, Dinh-Khoi Dang, Tan-Dat Hoang, Minh-Quan Nguyen, Dinh-Dung Vu, Chi-Hai-Duong Le, Nguyen-Bao-Long Phan, Quoc-Duy Bui, Ngoc-Hai Le, Duy-Phuc Vo
{"title":"PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment","authors":"Van-Dong-Hai Nguyen, Minh-Phuoc Cu, Tran-Minh-Nguyet Nguyen, Thanh-Do Huynh, Dinh-Khoi Dang, Tan-Dat Hoang, Minh-Quan Nguyen, Dinh-Dung Vu, Chi-Hai-Duong Le, Nguyen-Bao-Long Phan, Quoc-Duy Bui, Ngoc-Hai Le, Duy-Phuc Vo","doi":"10.59247/jfsc.v1i3.153","DOIUrl":null,"url":null,"abstract":"Ballbot is a robotic structure in which the robot self-balances on a ball by rotating wheels. This robot is a popular form of service robot. Developing controllers for this system provides academic tools for reality. In this paper, after presenting the dynamic equations of the ballbot, we design a Proportional Integrated Derivative (PID)-Linear Quadratic Regulator (LQR) combined (PID-LQR) controller to balance the robot on the ball. The simulation results show the success of this method. An experimental model of a ballbot is presented. In the experiment, PID-LQR combined controller also shows its ability to self-balancing for the ballbot. With this finding, a method of controlling this model is a reference for developing this service robot.","PeriodicalId":484588,"journal":{"name":"Journal of Fuzzy Systems and Control","volume":"2 2","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Fuzzy Systems and Control","FirstCategoryId":"0","ListUrlMain":"https://doi.org/10.59247/jfsc.v1i3.153","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Ballbot is a robotic structure in which the robot self-balances on a ball by rotating wheels. This robot is a popular form of service robot. Developing controllers for this system provides academic tools for reality. In this paper, after presenting the dynamic equations of the ballbot, we design a Proportional Integrated Derivative (PID)-Linear Quadratic Regulator (LQR) combined (PID-LQR) controller to balance the robot on the ball. The simulation results show the success of this method. An experimental model of a ballbot is presented. In the experiment, PID-LQR combined controller also shows its ability to self-balancing for the ballbot. With this finding, a method of controlling this model is a reference for developing this service robot.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
