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
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PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment
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.
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