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정과철(Gwa-Cheol Jeong),박준태(Jun-Tae Park),이수영(Soo-Yeong Yi) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.4
A ballbot has free mobility to move in all directions. It is a typical example of a dynamic system with an unstable equilibrium point, and thus it is important to design a reliable control system for it. In this study, a ballbot model is decoupled into a 2D model and analyzed using the Euler-Lagrange dynamic equations. The relationship between the wheels of the 2D model and the omni-wheels of an actual system is presented. The nonlinear dynamic system of the ballbot is linearized using the Taylor series expansion, and an LQR control with integral action is proposed. In this study, an integral controller is added to the LQR control to solve the problem due to the uncertainties in the dynamics model and to improve the stability of the ballbot control system. Experimental results are presented to validate the proposed controller.