Self-balancing and position control using multi-loop approach for ball robots

This paper presents a multi-loop control approach for dynamic modeling, self-balancing and position control of a ball robot (Ballbot) with inverse mouse-ball driving mechanism actuated by two independent brushless motors simultaneously. A completely non-decoupling dynamic model of the robot incorpor...

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Bibliographic Details
Main Authors: Ching-Chih Tsai, Ming-Han Juang, Cheng-Kai Chan, Ching-Wen Liao, Siang-Jyun Chan
Format: Conference Proceeding
Language:English
Subjects:
Ball robot
modeling regulation
multi-loop
Newtonian mechanics
position control
Robots
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Summary:This paper presents a multi-loop control approach for dynamic modeling, self-balancing and position control of a ball robot (Ballbot) with inverse mouse-ball driving mechanism actuated by two independent brushless motors simultaneously. A completely non-decoupling dynamic model of the robot incorporating with viscous and static frictions is derived using Newtonian mechanics. Two multi-loop controllers are then proposed to accomplish robust self-balancing and position control (regulation) of the robot with exogenous disturbances. Computer simulations and experimental results are conducted for illustration of the effectiveness of the proposed control method.
ISSN:2325-0909
DOI:10.1109/ICSSE.2010.5551789