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Optimal Robust Controller for a Ball-Riding Robot
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Type
Proceeding
Author
Kanjanapan Sukvichai (Kasetsart University)
Journal
The Institute of Electronics and Information Engineers ITC-CSCC :International Technical Conference on Circuits Systems, Computers and Communications ITC-CSCC 2015
Published
2015.6
Pages
416 - 419 (4page)

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Optimal Robust Controller for a Ball-Riding Robot
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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<SUP>TM</SUP> 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.
#Ball-riding robot #Optimal Robust Controller

Contents

Abstract
1. Introduction
2. Robot Model
3. Real Robot
4. Optimal Robust Controller
5. Simulation and Experiment
6. Conclusion
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