DocumentCode
2944224
Title
LQR motion control of a ball-riding robot
Author
Tsai, Ching-Chih ; Chan, Cheng-Kai ; Kuo, Lung-Chun
Author_Institution
Dept. of Electr. Eng., Nat. Chung Hsing Univ., Taichung, Taiwan
fYear
2012
fDate
11-14 July 2012
Firstpage
861
Lastpage
866
Abstract
The paper presents techniques and design methodologies for modeling and LQR motion control of a ball-riding robot driven by three omnidirectional wheels. A completely dynamic model of the robot moving on a flat terrain is derived using Lagrangian mechanics. Two LQR controllers are synthesized to achieve station keeping and point stabilization. Through computer simulations and experimental results, both proposed controllers together with the built ball-riding robot are successfully shown to give a satisfactory control performance.
Keywords
linear quadratic control; motion control; robot dynamics; LQR motion control synthesis; Lagrangian mechanics; ball-riding robot; flat terrain; linear quadratic regulator; point stabilization; robot dynamic model; station keeping; three omnidirectional wheels; Dynamics; Equations; Mathematical model; Mobile robots; Vehicle dynamics; Wheels; Ball-riding robot; Lagrangian mechanics; modeling; point stabilization;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on
Conference_Location
Kachsiung
ISSN
2159-6247
Print_ISBN
978-1-4673-2575-2
Type
conf
DOI
10.1109/AIM.2012.6265988
Filename
6265988
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