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Advanced Controls Mid

This mid-report summarizes progress on designing a control system for a self-balancing robot that moves on a spherical ball. The objectives are to advance knowledge of control system theory and design a highly functional system. The technical approach involves modeling the robot as two inverted pendulums, one for motion in the XZ plane and another for the YZ plane. A state feedback controller will be designed using the mathematical model and simulated in Matlab. While modeling system dynamics is underway, challenges remain in areas like Lagrange mechanics and including all disturbances. Simulation cannot be done until an effective mathematical model is complete. Further work will intensively simulate and analyze system parameters to optimize performance.

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50 views7 pages

Advanced Controls Mid

This mid-report summarizes progress on designing a control system for a self-balancing robot that moves on a spherical ball. The objectives are to advance knowledge of control system theory and design a highly functional system. The technical approach involves modeling the robot as two inverted pendulums, one for motion in the XZ plane and another for the YZ plane. A state feedback controller will be designed using the mathematical model and simulated in Matlab. While modeling system dynamics is underway, challenges remain in areas like Lagrange mechanics and including all disturbances. Simulation cannot be done until an effective mathematical model is complete. Further work will intensively simulate and analyze system parameters to optimize performance.

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Advanced Controls Mid-Report & Evaluation

Control of Self Balancing Robot on a Spherical Ball

Yuriy Psarev

Bahati Gitego

MTRE 4000

Spring 2011

Professor Ham
2

Table of Contents

I. Introduction - 70%
II. Abstract  - 90%
III. Objective - 50%
IV. Technical Approach - 50%
Spherical wheel inverted pendulum - Bahati
Kinematic Equations -  Yuriy, Bahati
Mathematical Mode - Yuriy, Bahati
Control System Design
Block Diagram -  Yuriy
System Parameters - Yuriy
Frequency Domain - Yuriy
Time Domain - Bahati
V. Experimental Results - 0%
Modelling - Yuriy, Bahati
Simulation - Yuriy, bahati
Matlab Model - Yuriy
Simulink - Bahati
Optimization - Yuriy
VI. Conclusion - 0%
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Abstract

In the following project a state space model controller is designed for a mobile robot that will
balance on a spherical wheel using the concepts of dynamics stability. The control system
implements multiple sensors and actuators, making it highly functional and adaptable. Using
kinematics and principles of the inverted ball pendulum, this control system is effectively
modelled and simulated. Our initial approach was to design a state space model for a
gyroscope; we came to a conclusion that it will prove beneficial to our design project to
implement the gyroscope in our design, rather than making the gyroscope the main focus of our
project. Our final decision led us to use the gyroscope as sensor device to provide relevant data
that will allow us to design a controller for a ball balancing robot.

Introduction
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Our aim for this design project is to design an omnidirectional ball


balancing robot Control System. This will be achieved by designing and
implementing a controller that utilizes multiple sensors, controlling three
different actuators that will balance and maneuver the robot on a
spherical rubber wheel.  One of the main advantages of designing a
robot that balances on a spherical wheel is that the robot can have a
high center of gravity and have a narrow base. Having a robot with a
narrow base is an advantage because the robot will have more
flexibility and the ability to easily move in a human structured
environment. The main focus of this project will be to develop an
effective mathematical model for the robot based on the principles and
physics of the inverted spherical ball pendulum. This model will be
further analyzed using frequency and time domain control theory. A
state space model will be derived, and then be simulated in Matlab to
analyze system parameters and effectively optimize the control model.
The minimal requirement of our project will be to have a working
Figure : Umashankar Nagarajan & Ballbot
mathematical model that can balance as well as provide mobility for the
mobile robot.

Objective

The primary objective of this project is to advance our knowledge and understanding of the
principles of control system theory and design. This will give us the opportunity to obtain
valuable hands on experience in design, modelling, and implementation of a highly functional,
adaptable and robust control system. The control system design of this project will also
contribute and explore different ways of transportation of mobile robots that have the ability to
maintain reliable balance using dynamic stability for improved navigation. This will be a
departure from the traditional robot designs that utilizes static stability by having three or more
wheels and wider base.

Technical Approach
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The main focus of this design project will be to derive a mathematical model, design a controller,
and then perform simulation for the purpose of improving and optimizing the performance of the
system. To model the stability of the robot, two inverted
pendulum with the spherical ball will be modeled. One
inverted pendulum would model motion in the XZ plane,
and another inverted pendulum would model motion in the
YZ plane, in both cases we will assume the stability of
each inverted pendulum in each respective plane is
independent of each other.  Once the two inverted
pendulum are defined, the equation of motion of the
respected spherical wheel inverted pendulum could then
Figure : Inverted Pendulum Model in XZ Plane
be derived. Using the derived mathematical model, a state
feedback control will be design. Using the state feedback controller, we will be able to calibrate
our gain constant to achieve stability. Using Matlab, our state feedback controller will be
simulated, and the system parameters can be analyzed. Using data from the simulation, we will
be able to finely tune our controller by adjusting our gain to improve the performance of our
state feedback controller.
As far as the scope of the mathematical analysis and modeling of our system, our goal will be to
simplify the system as much as possible without compromising the performance of the overall
design; this will be achieved by linearizing our model. Another crucial aspect of the design
process that will be considered is including statics friction in the model, which will provide an
increased level of complexity and make the overall more realistic and adaptable.

Remarks/Comments

As far as work regarding the modeling of system dynamics, we are currently under the modeling
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process, a lot of time was spent reviewing basics dynamics of rigid bodies and defining
variables and specific geometry that will be used in our mathematical model. There are still quite
a few obstacles to overcome, mostly mathematical and theory based. For instance
understanding Lagrange function and Lagrange multipliers and including all possible
disturbances and factors in our control system. As far as work regarding simulation, the system
will have to be broken down further into subsystems, to effectively model specific parameters of
the system for optimization purposes.  Simulation of the system cannot be achieved at the
moment, not until an effective mathematical and state space model is designed. We plan to
simulate the system intensively, analyzing all possible parameters using Matlab and Simulink
control toolbox.

References

"Trajectory Planning and Control of an Underactuated Dynamically Stable Single Spherical


Wheeled Mobile Robot," Umashankar Nagarajan, George Kantor and Ralph L. Hollis, IEEE Int'l
Conf. on Robotics and Automation, Kobe, Japan, May 12-17, 2009, pp. 3743-3748.
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"State Transition, Balancing, Station Keeping, and Yaw Control for a Dynamically Stable Single
Spherical Wheel Mobile Robot, " Umashankar Nagarajan, Anish Mampetta, George Kantor and
Ralph L. Hollis, IEEE Int'l Conf. on Robotics and Automation, Kobe, Japan, May 12-17, 2009,
pp. 999-1003.

Goodwin, Graham C. Control System Design. Upper Saddle River, N.J: Prentice Hall, 2001.

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