Dynamic Analysis and Controller Design for the Ballbot

Zhuang He; Liang Yan; Xiaoshan Gao; Chris Gerada

doi:10.1109/ICIEA48937.2020.9248096

Dynamic Analysis and Controller Design for the Ballbot

Zhuang He
, Liang Yan
, Xiaoshan Gao
, Chris Gerada

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

A ballbot is a dynamically stable mobile robot that shows the capability of omnidirectionality, agility, and maneuverability on a floor. This paper presents the design prototype and control scheme of a ballbot. By assuming that the effected noise is white gaussian noise, a Kalman estimator is applied to estimate the internal state of the system. To improve the trajectory tracking performance of the ballbot, a Linear Quadratic Tracking (LQT) controller is designed to balance and transfer the ballbot system taking into account the presence of the noise in system, and the numerical simulation results imply the correctness of the system modeling and effectiveness of LQT control design for a MIMO ballbot system.

Original language	English
Title of host publication	Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1669-1672
Number of pages	4
ISBN (Electronic)	9781728151694
DOIs	https://doi.org/10.1109/ICIEA48937.2020.9248096
State	Published - 9 Nov 2020
Event	15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 - Virtual, Kristiansand, Norway Duration: 9 Nov 2020 → 13 Nov 2020

Publication series

Name	Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

Conference

Conference	15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020
Country/Territory	Norway
City	Virtual, Kristiansand
Period	9/11/20 → 13/11/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Kalman filter
LQT control
Lagrangian method
ballbot

Access to Document

10.1109/ICIEA48937.2020.9248096

Cite this

He, Z., Yan, L., Gao, X., & Gerada, C. (2020). Dynamic Analysis and Controller Design for the Ballbot. In Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 (pp. 1669-1672). Article 9248096 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA48937.2020.9248096

He, Zhuang ; Yan, Liang ; Gao, Xiaoshan et al. / Dynamic Analysis and Controller Design for the Ballbot. Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 1669-1672 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020).

@inproceedings{809976188aab4ce3945491dba15c8700,

title = "Dynamic Analysis and Controller Design for the Ballbot",

abstract = "A ballbot is a dynamically stable mobile robot that shows the capability of omnidirectionality, agility, and maneuverability on a floor. This paper presents the design prototype and control scheme of a ballbot. By assuming that the effected noise is white gaussian noise, a Kalman estimator is applied to estimate the internal state of the system. To improve the trajectory tracking performance of the ballbot, a Linear Quadratic Tracking (LQT) controller is designed to balance and transfer the ballbot system taking into account the presence of the noise in system, and the numerical simulation results imply the correctness of the system modeling and effectiveness of LQT control design for a MIMO ballbot system.",

keywords = "Kalman filter, LQT control, Lagrangian method, ballbot",

author = "Zhuang He and Liang Yan and Xiaoshan Gao and Chris Gerada",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020 ; Conference date: 09-11-2020 Through 13-11-2020",

year = "2020",

month = nov,

day = "9",

doi = "10.1109/ICIEA48937.2020.9248096",

language = "英语",

series = "Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1669--1672",

booktitle = "Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020",

address = "美国",

}

He, Z, Yan, L , Gao, X & Gerada, C 2020, Dynamic Analysis and Controller Design for the Ballbot. in Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020., 9248096, Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020, Institute of Electrical and Electronics Engineers Inc., pp. 1669-1672, 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020, Virtual, Kristiansand, Norway, 9/11/20. https://doi.org/10.1109/ICIEA48937.2020.9248096

Dynamic Analysis and Controller Design for the Ballbot. / He, Zhuang; Yan, Liang ; Gao, Xiaoshan et al.
Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 1669-1672 9248096 (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic Analysis and Controller Design for the Ballbot

AU - He, Zhuang

AU - Yan, Liang

AU - Gao, Xiaoshan

AU - Gerada, Chris

PY - 2020/11/9

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N2 - A ballbot is a dynamically stable mobile robot that shows the capability of omnidirectionality, agility, and maneuverability on a floor. This paper presents the design prototype and control scheme of a ballbot. By assuming that the effected noise is white gaussian noise, a Kalman estimator is applied to estimate the internal state of the system. To improve the trajectory tracking performance of the ballbot, a Linear Quadratic Tracking (LQT) controller is designed to balance and transfer the ballbot system taking into account the presence of the noise in system, and the numerical simulation results imply the correctness of the system modeling and effectiveness of LQT control design for a MIMO ballbot system.

AB - A ballbot is a dynamically stable mobile robot that shows the capability of omnidirectionality, agility, and maneuverability on a floor. This paper presents the design prototype and control scheme of a ballbot. By assuming that the effected noise is white gaussian noise, a Kalman estimator is applied to estimate the internal state of the system. To improve the trajectory tracking performance of the ballbot, a Linear Quadratic Tracking (LQT) controller is designed to balance and transfer the ballbot system taking into account the presence of the noise in system, and the numerical simulation results imply the correctness of the system modeling and effectiveness of LQT control design for a MIMO ballbot system.

KW - Kalman filter

KW - LQT control

KW - Lagrangian method

KW - ballbot

UR - https://www.scopus.com/pages/publications/85097545840

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M3 - 会议稿件

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BT - Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020

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ER -

He Z, Yan L , Gao X, Gerada C. Dynamic Analysis and Controller Design for the Ballbot. In Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 1669-1672. 9248096. (Proceedings of the 15th IEEE Conference on Industrial Electronics and Applications, ICIEA 2020). doi: 10.1109/ICIEA48937.2020.9248096

Dynamic Analysis and Controller Design for the Ballbot

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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