Optimal Robust Controller for a Ball-Riding Robot

摘要

A ball-riding robot is fascinated because of its characteristic. Eular-Lagrange combined with motor dynamics is used to obtain robot very precise dynamics model. The real robot is implemented by using acrylic and aluminum. Robot is controlled by using ARM TM embedded controller. Inertia moment unit is used to obtain robot’s tile angles. The optimal robust controller is introduced and proved to satisfy the necessary robot balancing conditions. The robot model is simulated with parameter uncertainty and noisy environment. The control algorithm is implemented to the real robot in order to achieve robot stability. The proposed controller is experimented in present of uncertainty.