SYSTEM AND ALGORITHMS OF BALLBOT STABILIZATION

Borgul Alexander S, Gromov Vladislav S., Zimenko Konstantin A., Sergey Maklashevich

2011 , VOLUME 11, NUMBER 5 ( SEPTEMBER-OCTOBER )

ISSN 2226-1494 (print), ISSN 2500-0373 (online)

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Editor-in-Chief

Nikiforov
Vladimir O.
D.Sc., Prof.

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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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