Journal of Fuzzy Systems and Control (JFSC)
Vol. 1 No. 3 (2023): Vol. 1, No. 3, 2023

PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment

Nguyen, Van-Dong-Hai (Unknown)
Cu, Minh-Phuoc (Unknown)
Nguyen, Tran-Minh-Nguyet (Unknown)
Huynh, Thanh-Do (Unknown)
Dang, Dinh-Khoi (Unknown)
Hoang, Tan-Dat (Unknown)
Nguyen, Minh-Quan (Unknown)
Vu, Dinh-Dung (Unknown)
Le, Chi-Hai-Duong (Unknown)
Phan, Nguyen-Bao-Long (Unknown)
Bui, Quoc-Duy (Unknown)
Le, Ngoc-Hai (Unknown)
Vo, Duy-Phuc (Unknown)

Article Info

Publish Date
04 Jan 2024

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.

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Journal Info
Journal of Fuzzy Systems and Control (JFSC)
Website

Abbrev

jfsc

Publisher

Peneliti Teknologi Teknik Indonesia

Subject

Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

Description

Journal of Fuzzy Systems and Control is an international peer review journal that published papers about Fuzzy Logic and Control Systems. The Journal of Fuzzy Systems and Control should encompass original research articles, review articles, and case studies that contribute to the advancement of the ...