2019 16th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) | 2019
Simple Direct MRAC of a Self-Balancing Robot mounted on a Ball
Abstract
In this work, a simple direct model reference adaptive controller (SDMRAC) is proposed to control a self-balancing robot mounted on a ball, also known as ballbot. The fourth-order mathematical model of the robotic system is linearized, considering small angle deviations, and expressed in the state equation form under the assumption that all the states are available for feed back. Then, the state equation is rearranged in a convenient configuration in the sense that a fourth-order model reference can be set as a block diagonal matrix, where each block corresponds to a second-order model reference in matrix form, for which the Lyapunov equation has solution. Thus, the design of the SDMRAC from the linear model of the robotic system is carried out. Numerical simulation results give an insight of the viability of our proposal.