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Partial Feedback Linearization Double-loop Control for a Pseudo-2D Ridable Ballbot

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  • Robot and Applications
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Abstract

A ridable ballbot has unstable underactuated dynamics with nonholonomic velocity constraints and input coupling case. Such a robot can carry people and move in any direction on the floor. In this study, a pseudo-2D dynamic model of the ridable ballbot is derived. An improved nonlinear double-loop control system combined with the partial feedback linearization (PFL) technique is proposed for the ridable ballbot, which allows it to balance and transfer. Feedforward compensation is added to the controller to consider uncertainties, friction, and disturbances. Numerical simulations and experiments show the validity of the PFL double-loop control based on the pseudo-2D dynamic model.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Vietnam Maritime University, Hai Phong, Vietnam

    Dinh Ba Pham

  2. Department of Mechanical Engineering, Kyung Hee University, IRMS Lab, Engineering Building, Yongin, Gyeonggi, Korea

    Ihn-Sik Weon

  3. Department of Mechanical Engineering, Kyung Hee University, Yongin, Gyeonggi, Korea

    Soon-Geul Lee

Authors
  1. Dinh Ba Pham
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  3. Soon-Geul Lee
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Correspondence to Soon-Geul Lee.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Shihua Li under the direction of Editor Myo Taeg Lim. This research was partly supported by the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2019R1A2C2010195); and by the University Collaboration Program for “Development of High-precision Information Processing Algorithm of Digital Mapping Robot Based on LiDAR” funded by Korea Gas Co. It was also supported by the MSIT, under the ICT Consilience Creative program (IITP-2019-2015-0-00742) supervised by the IITP (Institute for Information & communications Technology Planning & Evaluation). It was also supported by Vinetch Fund (DA05/07052019) and Vietnam Maritime University.

Dinh Ba Pham received his B.E. and M.S. degrees in Mechanical Engineering from Vietnam Maritime University in Hai Phong, Vietnam, in 2007 and 2012, respectively. He received his Ph.D. degree in the Department of Mechanical Engineering of Kyung Hee University, Korea in 2018. He is a lecturer of the Department of Mechanical Engineering of Vietnam Maritime University and a researcher at the Mechanical Department of Sejong University. His research interests are applied nonlinear control, dynamics, robotics, intelligent control, and control of industrial machines.

Ihn-Sik Weon received his B.S. degree in mechanical engineering from the Engineering College, Korea University, Korea, in 2014, and his M.S. and Ph.D. degrees in mechanical engineering from the Engineering College, Kyung Hee University. His main research interests are the autonomous vehicle’s control algorithm, unmanned surface vessel, and intelligent assistance robot.

Soon-Geul Lee received his B.E. degree in Mechanical Engineering from Seoul National University in Seoul, Korea; an M.S. degree in Production Engineering from KAIST in Seoul, Korea; and a Ph.D. degree in Mechanical Engineering from the University of Michigan, in 1983, 1985, and 1993, respectively. Since 1996, he has been with the Department of Mechanical Engineering of Kyung Hee University in Yongin, Korea, where he is currently a Professor. His research interests include robotics and automation, mechatronics, intelligent control, and biomechanics.

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Pham, D.B., Weon, IS. & Lee, SG. Partial Feedback Linearization Double-loop Control for a Pseudo-2D Ridable Ballbot. Int. J. Control Autom. Syst. 18, 1310–1323 (2020). https://doi.org/10.1007/s12555-018-0854-7

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