Control of a Ballbot
碩士 === 國立臺北科技大學 === 機電整合研究所 === 96 === Based on sliding mode theory, this paper presents a hierarchical sliding-mode control for under-actuated system of a ballbot. Firstly, the nominal system is divided into two subsystems and sliding mode surface of every subsystem is defined. Secondly, one of the...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2008
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| Online Access: | http://ndltd.ncl.edu.tw/handle/a94m8t |
| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 96 === Based on sliding mode theory, this paper presents a hierarchical sliding-mode control for under-actuated system of a ballbot. Firstly, the nominal system is divided into two subsystems and sliding mode surface of every subsystem is defined. Secondly, one of the subsystems is selected as the first layer sliding surface. The first layer sliding surface is then used to construct the second layer sliding mode surface with the sliding mode surface of another subsystem. The asymptotic stability of every layer sliding surface and sliding surface of each subsystem is proven theoretically by Barbalat’s lemma and Lyapunov theorem. Computer simulation results show the effectiveness and validity of the developed hierarchical sliding-mode controller for balancing and tracking control of the ballbot. In addition, mechanism and control circuits design have been finished and preliminary result of balancing control of the ballbot has been obtained.
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