Nguyen, Van-Dong-Hai and Cu, Minh-Phuoc and Nguyen, Tran-Minh-Nguyet and Huynh, Thanh-Do and Dang, Dinh-Khoi and Hoang, Tan-Dat and Nguyen, Minh-Quan and Vu, Dinh-Dung and Le, Chi-Hai-Duong and Phan, Nguyen-Bao-Long and Bui, Quoc-Duy and Le, Ngoc-Hai and Vo, Duy-Phuc (2024) PID-LQR Combined Linear Controller for Balancing Ballbot: Simulation and Experiment. Journal of Fuzzy Systems and Control, 1 (3). pp. 97-103.
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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.
| Item Type: | Article |
|---|---|
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Depositing User: | JFSC PTTI |
| Date Deposited: | 26 Jun 2026 13:39 |
| Last Modified: | 26 Jun 2026 13:39 |
| URI: | https://alxiv.org/id/eprint/1164 |
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