期刊
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
卷 20, 期 9, 页码 1519-1532出版社
KOREAN SOC PRECISION ENG
DOI: 10.1007/s12541-019-00139-4
关键词
Ridable ballbot; Hierarchical sliding mode control; Underactuated system; Double-loop control system; PI control
资金
- National Research Foundation of Korea (NRF) - Ministry of Education [2019R1A2C2010195]
- Ministry of Science and ICT, Korea, under the Grand Information Technology Research Center support program [IITP-2018-2015-0-00742]
- Senior-friendly Product R&D program - Ministry of Health and Welfare through the Korea Health Industry Development Institute (KHIDI) [HI15C1027]
- Institute for Information & Communication Technology Planning & Evaluation (IITP), Republic of Korea [2015-0-00742-005] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [2019R1A2C2010195] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
In this study, we propose a nonlinear double-loop control system for a ridable ballbot. An improved nonlinear double-loop control technique based on double-loop control scheme and sliding mode technology is used, and the inner-loop consists of proportional-integral feedback plus feedforward control. A sliding mode control enables the ridable ballbot to balance and transfer on the floor. Feedforward compensation has been added for the stability of the ballbot. As a result, the control system can stabilize all state variables of the ballbot system despite the uncertainties of the system parameters such as model, friction, and external disturbances, and relatively large body inertia. Experiments demonstrate the effectiveness of the proposed control system and the performance validation of the nonlinear double-loop control.
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