D. Nguyen, T. B. Cao, Trường Hưng Phạm, N. Vo, P. V. Dang, Hoai Nam Le
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引用次数: 1
Abstract
The purpose of this paper is to present the design, prototype and control of a ball balancing robot. This robot has hexagonal prism body actuated by three DC motors with omni-wheels. Using a state space model obtained by linearizing the equations of motion derived by Lagrangian method, a Linear Quadratic Gaussian controller is designed to stabilize and drive the robot. The performance of the proposed control method is illustrated through simulation and its deployment on the real prototype.
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