SYSTEM AND ALGORITHMS OF BALLBOT STABILIZATION

A. S. Borgul, V. S. Gromov, K. A. Zimenko, S. Maklashevich


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Abstract

 

Stabilization problem of unstable construction with the ball at the base and two connected motors was solved. Regulators were synthesized on the basis of linear-quadratic functional optimization and qualitative exponential stability ensuring method. Experimental researches of control system were performed on the model based on robotics complex LegoNXT.


Keywords:   Ballbot, inverted mathematical pendulum, linear-quadratic regulator, qualitative exponential stability.

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