LMI Based Robust H2 Control of a Ball Balancing Robot with Omni-wheels

被引：0
|
作者：
Lima, Flavio H. B. [1 ]
Poleze, Eduardo [1 ]
das Neves, Gabriel P. [1 ]
Angelico, Bruno A. [1 ]
机构：
[1] Univ Sao Paulo, Escola Politecn, Dept Telecommun & Control Engn, Sao Paulo, Brazil
来源：
2019 18TH EUROPEAN CONTROL CONFERENCE (ECC) | 2019年
基金：
巴西圣保罗研究基金会;
关键词：
D O I：
10.23919/ecc.2019.8795789
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Ball Balancing Robots (BBRs) balance themselves on a sphere. With trajectory planning, they could move towards every direction in the horizontal plane. This work gathers construction aspects, modeling and robust H-2 control applied to a BBR built in laboratory. Modeling a BBR is complex because the system is under-actuated and the motors are not aligned to any coordinates system, requiring torques transformations. The robust H-2 control was designed via LMI formulation. Practical results are presented in order to validate de controller.
引用
收藏
页码：2090 / 2095
页数：6
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