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

Author(s)

Lima, Flavio H. B. ; Poleze, Eduardo ; das Neves, Gabriel P. ; Angelico, Bruno A. ; IEEE

• Document type: Journal article
• Source: 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC); v. N/A, p. 6-pg., 2019-01-01.

Abstract

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. (AU)

• FAPESP's process: 17/22130-4 - Applied Robust Control
• Grantee: Bruno Augusto Angélico
• Support Opportunities: Regular Research Grants