| Summary: | 碩士 === 國立中興大學 === 電機工程學系所 === 97 === This thesis presents methodologies and techniques for system design, dynamic modeling and motion control of a ball robot with an inverse mouse-ball driving mechanism actuated by two independent brushless motors simultaneously. A novel dynamic model of the robot travelling over a flat terrain is established according to Lagrangian mechanics, and the model is shown valid by reducing such a model to a known simplified model. With this complete model and control goals of station keeping and position control, a two-loop controller with a feedforward compensator is constructed by a synthesis of a PI-based controller for inner-loop and a linear quadratic regulator for outer-loop. To overcome big Coulomb friction, an adaptive backstepping sliding-mode controller is proposed to accomplish robust self-balancing and position control (regulation) of the robot with exogenous disturbances, Coulomb and viscous frictions. Simulation and experimental results indicate that both proposed motion controllers are capable of providing appropriate control actions to satisfactorily achieve self-balancing and position control, but the adaptive backstepping sliding-mode controller outperforms the two-loop controller.
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