Article Per Year (5 Year)
p-Index From 2020 - 2025
0.23
P-Index
This Author published in this journals
All Journal Journal of Fuzzy Systems and Control (JFSC)
Nguyen, Tran-Minh-Nguyet
Unknown Affiliation
Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment Nguyen, Van-Dong-Hai; Cu, Minh-Phuoc; Nguyen, Tran-Minh-Nguyet; Huynh, Thanh-Do; Dang, Dinh-Khoi; Hoang, Tan-Dat; Nguyen, Minh-Quan; Vu, Dinh-Dung; Le, Chi-Hai-Duong; Phan, Nguyen-Bao-Long; Bui, Quoc-Duy; Le, Ngoc-Hai; Vo, Duy-Phuc
Journal of Fuzzy Systems and Control Vol. 1 No. 3 (2023): Vol. 1, No. 3, 2023
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v1i3.153

Abstract

Ballbot is a robotic structure in which the robot self-balances on a ball by rotating wheels. This robot is a popular form of service robot. Developing controllers for this system provides academic tools for reality. In this paper, after presenting the dynamic equations of the ballbot, we design a Proportional Integrated Derivative (PID)-Linear Quadratic Regulator (LQR) combined (PID-LQR) controller to balance the robot on the ball. The simulation results show the success of this method. An experimental model of a ballbot is presented. In the experiment, PID-LQR combined controller also shows its ability to self-balancing for the ballbot. With this finding, a method of controlling this model is a reference for developing this service robot.
Co-Authors Bui, Quoc-Duy Cu, Minh-Phuoc Dang, Dinh-Khoi Hoang, Tan-Dat Huynh, Thanh-Do Le, Chi-Hai-Duong Le, Ngoc-Hai Nguyen, Minh-Quan Nguyen, Van-Dong-Hai Phan, Nguyen-Bao-Long Vo, Duy-Phuc Vu, Dinh-Dung