Journal
2019 19TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2019)
Volume -, Issue -, Pages 641-645Publisher
IEEE
DOI: 10.23919/iccas47443.2019.8971547
Keywords
Ballbot; sliding mode control; 3D dynamic model; under-actuated system; Lyapunov method
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This paper proposes a hierarchical sliding mode controller for a three-dimensional ballbot in an extremely complicated operation of three omni-directional wheels, a ball, and body. Three ball motors simultaneously drive four outputs comprising ball motion and two tilt angles of the body. Simulation tests are performed to investigate the controller qualities. The proposed controller asymptotically stabilizes and consistently maintains system response.
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