Linear controller for the NXT ballbot with parameter variations using linear matrix inequalities

Robotics, a classical but still burgeoning field buttressed by the fast innovating computer science and hardware industries revolution is still at the top area of the engineering academia. Unlike the traditional robot that has arms and wheels and is just like a mimic of human, ballbot is a robot who...

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Main Author: Wang, Yu
Other Authors: Ling Keck Voon
Format: Final Year Project
Language:English
Published: 2017
Subjects:
Online Access:http://hdl.handle.net/10356/71853
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-718532023-07-07T16:27:22Z Linear controller for the NXT ballbot with parameter variations using linear matrix inequalities Wang, Yu Ling Keck Voon School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering Robotics, a classical but still burgeoning field buttressed by the fast innovating computer science and hardware industries revolution is still at the top area of the engineering academia. Unlike the traditional robot that has arms and wheels and is just like a mimic of human, ballbot is a robot who could achieve dynamic stability by balance itself on a ball. Its unique mechanism and performance shed some light on creative robot design and analysis. To develop a controllable stable Ballbot, modern control theory will be applied based on the dynamic force analysis of the robot system. During the past years, several ballbots has been developed by other institutes and universities (CMU (Carnegie Mellon University) in 2005, and TGU (Tohoku Gakuin University in 2008) ) . This solo project aims to develop a Ballbot using Lego NXT Mindstream toolkit and apply a controller based on the LMI analysis of the model to boost the stability and add robustness against the foreseeable parametric uncertainties to the controllers. Throughout the report, the model and methodology used by developing the robot will be discussed, the simulation and experimental results will be introduced and analyzed to discern the unique advantage of the application of LMI. Bachelor of Engineering 2017-05-19T06:23:55Z 2017-05-19T06:23:55Z 2017 Final Year Project (FYP) http://hdl.handle.net/10356/71853 en Nanyang Technological University 77 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering
spellingShingle DRNTU::Engineering::Electrical and electronic engineering
Wang, Yu
Linear controller for the NXT ballbot with parameter variations using linear matrix inequalities
description Robotics, a classical but still burgeoning field buttressed by the fast innovating computer science and hardware industries revolution is still at the top area of the engineering academia. Unlike the traditional robot that has arms and wheels and is just like a mimic of human, ballbot is a robot who could achieve dynamic stability by balance itself on a ball. Its unique mechanism and performance shed some light on creative robot design and analysis. To develop a controllable stable Ballbot, modern control theory will be applied based on the dynamic force analysis of the robot system. During the past years, several ballbots has been developed by other institutes and universities (CMU (Carnegie Mellon University) in 2005, and TGU (Tohoku Gakuin University in 2008) ) . This solo project aims to develop a Ballbot using Lego NXT Mindstream toolkit and apply a controller based on the LMI analysis of the model to boost the stability and add robustness against the foreseeable parametric uncertainties to the controllers. Throughout the report, the model and methodology used by developing the robot will be discussed, the simulation and experimental results will be introduced and analyzed to discern the unique advantage of the application of LMI.
author2 Ling Keck Voon
author_facet Ling Keck Voon
Wang, Yu
format Final Year Project
author Wang, Yu
author_sort Wang, Yu
title Linear controller for the NXT ballbot with parameter variations using linear matrix inequalities
title_short Linear controller for the NXT ballbot with parameter variations using linear matrix inequalities
title_full Linear controller for the NXT ballbot with parameter variations using linear matrix inequalities
title_fullStr Linear controller for the NXT ballbot with parameter variations using linear matrix inequalities
title_full_unstemmed Linear controller for the NXT ballbot with parameter variations using linear matrix inequalities
title_sort linear controller for the nxt ballbot with parameter variations using linear matrix inequalities
publishDate 2017
url http://hdl.handle.net/10356/71853
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