Balance and Tracking Control of a Spherical Inverted Pendulum with an Omnidirectional Mobile Robot

• Main Authors: Tzung-WeiHan, 韓宗衛
• Other Authors: Ming-Tzu Ho
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/32021357486180959500

碩士 === 國立成功大學 === 工程科學系碩博士班 === 101 === The objective of this thesis is to design tracking control for a spherical inverted pendulum system with an omnidirectional mobile robot. There are two parts in this thesis: First, the Euler-Lagrange method is used to derive the dynamic model of the spherical inverted pendulum system.the linear output regulation control law and nonlinear output regulation control law are designed for balance and tracking control of this system. Second, the dynamic model of the omnidirectional mobile robot with friction is derived. MATLAB/Simulink software is used to simulate the situation of slippage when feedback signals are provided by encoders. To improve the tracking performance an extended Kalman filter is used for predicting the position and attitude with an inertial measurement unit and encoders. In the experiments, the designed controllers are implemented on a digital signal processor (TMS320F2812) produced by Texas Instruments. Finally, combining the digital signal processor with the relevant peripheral interface circuits, balance and tracking control of the spherical inverted pendulum system actuated by an omnidirectional mobile robot is achieved.