Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 18, Issue 5, Pages 1310-1323Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-018-0854-7
Keywords
Double-loop control; feedforward control; Lyapunov; partial feedback linearization; ridable ballbot; underactuated system
Categories
Funding
- National Research Foundation of Korea (NRF) - Ministry of Education [2019R1A2C2010195]
- University Collaboration Program for Development of High-precision Information Processing Algorithm of Digital Mapping Robot Based on LiDAR - Korea Gas Co.
- MSIT, under the ICT Consilience Creative program [IITP-2019-2015-0-00742]
- Vinetch Fund [DA05/07052019]
- Vietnam Maritime University
- National Research Foundation of Korea [2019R1A2C2010195] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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A ridable ballbot has unstable underactuated dynamics with nonholonomic velocity constraints and input coupling case. Such a robot can carry people and move in any direction on the floor. In this study, a pseudo-2D dynamic model of the ridable ballbot is derived. An improved nonlinear double-loop control system combined with the partial feedback linearization (PFL) technique is proposed for the ridable ballbot, which allows it to balance and transfer. Feedforward compensation is added to the controller to consider uncertainties, friction, and disturbances. Numerical simulations and experiments show the validity of the PFL double-loop control based on the pseudo-2D dynamic model.
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