New Dynamic Model and Simulation of the Ballbot Using Reaction Wheels

Sekhar, Narendra Raja; Korrapati, Mallikarjuna; Hota, Roshan Kumar; Kumar, C. S.

doi:10.1007/978-981-10-8597-0_69

Cited by 2 publications

(4 citation statements)

References 2 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This control problem has practical applications in robotics, e.g. in 2 DOF robots with two links [2], reaction wheel unicycle robots [3], [4], and new spherical drive wheel robots [5].…”

Section: Introductionmentioning

confidence: 99%

Robust Super-Twisting Sliding Mode Control for Balancing Reaction Wheel Pendulum

Rizal,

Noor,

Wibowo

et al. 2023

ETJ

View full text Add to dashboard Cite

Underactuated systems are one of the emerging research topics due to their challenging problems and applications in real-world engineering systems. In this paper, we consider the control problem of balancing the reaction wheel pendulum. Many control methods have been adopted to control the system and one of the common controls is based on sliding mode control (SMC). In SMC, the chattering phenomenon and its solution are widely discussed. Several approaches have been proposed, for example replacing the switching function, second-order SMC, and higher-order SMC. Here, the balancing of the reaction wheel pendulum with disturbances is considered. First, the system model derivation based on the Euler-Lagrange method is discussed. Second, a different approach to designing a controller is given where feedback linearization and robust super-twisting sliding mode control are used. The control performances are compared with those of standard and modified switching functions of first-order sliding mode control. For second-order sliding mode control, the super-twisting and PID super-twisting controllers are employed. In each controller, similar disturbances, namely, impulse signal and sinusoidal signal are used to verify the effectiveness of the controller. We conduct the comparison studies in Matlab/Simulink with fixed controller's gains and the controllers effectively stabilize the pendulum upright and reject the given external disturbances.

show abstract

“…This control problem has practical applications in robotics, e.g. in 2 DOF robots with two links [2], reaction wheel unicycle robots [3], [4], and new spherical drive wheel robots [5].…”

Section: Introductionmentioning

confidence: 99%

Robust Super-Twisting Sliding Mode Control for Balancing Reaction Wheel Pendulum

Rizal,

Noor,

Wibowo

et al. 2023

ETJ

View full text Add to dashboard Cite

show abstract

“…Neves et al [8] designed a robust controller that minimized the H 2 system norm considering parametric uncertainties in the poly-topic domain for a reaction wheel unicycle, and the controller performance was verified experimentally. A ball-bot system, a pendulum balanced on a ball, has also attracted attention in the past few years [9]- [11]. This system consists of an inverted pendulum rolling on a sphere and can be controlled by its Omni-wheels [10] or using reaction wheels [11].…”

Section: Introductionmentioning

confidence: 99%

“…A ball-bot system, a pendulum balanced on a ball, has also attracted attention in the past few years [9]- [11]. This system consists of an inverted pendulum rolling on a sphere and can be controlled by its Omni-wheels [10] or using reaction wheels [11]. Sekhar et al [11] derived a mathematical model using Lagrangian mechanics, where it included reaction wheels to control the ball-bot system.…”

Section: Introductionmentioning

confidence: 99%

“…This system consists of an inverted pendulum rolling on a sphere and can be controlled by its Omni-wheels [10] or using reaction wheels [11]. Sekhar et al [11] derived a mathematical model using Lagrangian mechanics, where it included reaction wheels to control the ball-bot system. PID and LQR controllers were designed to control the system with or without the reaction wheels to compare the performances.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation

et al. 2020

View full text Add to dashboard Cite

Reaction wheels have been extensively used to control and stabilize a wide range of applications due to the angular momentum exchange that they provide to mechanical systems. However, there exist several limitations associated with actuator saturation and the presence of singularities that lead towards the use of different controllers and devices. Recently, a new and unusual configuration using two reaction wheels was proposed and illustrated in an inverted pendulum to drive and control it using a simple and well-known PID controller. In this context, this paper improves the previous results on the same system by proposing two more sophisticated nonlinear controllers: a nonlinear proportional-derivative and a sliding mode controller. The proof of the stability of each controller is also provided, and the asymptotic stability is proven. A friction model is experimentally updated into the differential equations of the pendulum and also included for the controllers designing. A real-time application verifies the performance of the controllers using low-cost hardware. Results based on the analysis of different performance indices highlight the improvement of applying these two nonlinear control techniques comparing to the previous paper using this configuration of actuators. INDEX TERMS Inverted pendulum, low-cost hardware, reaction wheels, sliding mode control.

show abstract

New Dynamic Model and Simulation of the Ballbot Using Reaction Wheels

Cited by 2 publications

References 2 publications

Robust Super-Twisting Sliding Mode Control for Balancing Reaction Wheel Pendulum

Robust Super-Twisting Sliding Mode Control for Balancing Reaction Wheel Pendulum

Inverted Pendulum Nonlinear Controllers Using Two Reaction Wheels: Design and Implementation

Contact Info

Product

Resources

About