Closed-Loop Identification and Tracking Control of a Ballbot
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866914766596866048 |
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| author | Fischer, Tobias Karachalios, Dimitrios S. Zhavzharov, Ievgen Abbas, Hossam S. |
| author_facet | Fischer, Tobias Karachalios, Dimitrios S. Zhavzharov, Ievgen Abbas, Hossam S. |
| contents | Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test proposed strategies to tackle this control problem. A double-loop control system, including a state-feedback gain in the outer-loop and a Proportional-Integral-Derivative (PID) controller in the inner-loop, is presented to balance the system in its unstable equilibrium. Once stability is reached, the plant's response to a designed excitation signal is measured and interpreted to identify the system's dynamics. Hereby, the parameters of a linearized model of the ballbot are identified with prior knowledge about the structure of the nonlinear dynamics of the system. Based on an identified linear time-invariant (LTI) state-space model, a double-loop control strategy is considered to balance the real system and to allow reference tracking. A linear quadratic regulator (LQR) is designed offline and implemented in the inner-loop to ensure balance. In the outer-loop, the estimated dynamics forecast the system's behavior online using a model-predictive-control (MPC) design to find the optimal control input for reference tracking. The experimental results demonstrate the applicability of the proposed strategies. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_14845 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Closed-Loop Identification and Tracking Control of a Ballbot Fischer, Tobias Karachalios, Dimitrios S. Zhavzharov, Ievgen Abbas, Hossam S. Optimization and Control Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test proposed strategies to tackle this control problem. A double-loop control system, including a state-feedback gain in the outer-loop and a Proportional-Integral-Derivative (PID) controller in the inner-loop, is presented to balance the system in its unstable equilibrium. Once stability is reached, the plant's response to a designed excitation signal is measured and interpreted to identify the system's dynamics. Hereby, the parameters of a linearized model of the ballbot are identified with prior knowledge about the structure of the nonlinear dynamics of the system. Based on an identified linear time-invariant (LTI) state-space model, a double-loop control strategy is considered to balance the real system and to allow reference tracking. A linear quadratic regulator (LQR) is designed offline and implemented in the inner-loop to ensure balance. In the outer-loop, the estimated dynamics forecast the system's behavior online using a model-predictive-control (MPC) design to find the optimal control input for reference tracking. The experimental results demonstrate the applicability of the proposed strategies. |
| title | Closed-Loop Identification and Tracking Control of a Ballbot |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2404.14845 |