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Dynamical Modeling and Swing-Up Control of a Self-balancing Cube

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Advances in Robot Design and Intelligent Control (RAAD 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 540))

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Abstract

In this paper a balancing cube is presented. Driven flywheels are used as actuators for the balancing control. The cube is additionally equipped with an IMU measuring the orientation and rotational velocity of the cube. The control is done on an embedded control system. Based on the kinematical and dynamical modelling, two methods for swing-up of the cube are presented. The first one makes use of pre-defined trajectories, while for the second one a time/energy optimal solution subject to technological constraints is performed. Proportional control laws based on velocities and orientation measurements are used for stabilization. To demonstrate the effectiveness of the test bench, experimental results are shown.

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Acknowledgments

This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mechatronics (LCM).

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Authors and Affiliations

  1. Institute of Robotics, Johannes Kepler University Linz, Altenbergerstraße 69, 4040, Linz, Austria

    Hubert Gattringer, Alexander Reiter, Christoph Stöger, Matthias Jörgl, Philip Hörmandinger & Andreas Müller

  2. Trotec GmbH, 4614, Machtrenk, Austria

    Matthias Jörgl

Authors
  1. Hubert Gattringer
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  2. Alexander Reiter
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  3. Christoph Stöger
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  4. Matthias Jörgl
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  5. Philip Hörmandinger
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  6. Andreas Müller
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Corresponding author

Correspondence to Hubert Gattringer .

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Editors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Gattringer, H., Reiter, A., Stöger, C., Jörgl, M., Hörmandinger, P., Müller, A. (2017). Dynamical Modeling and Swing-Up Control of a Self-balancing Cube. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_16

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  • DOI: https://doi.org/10.1007/978-3-319-49058-8_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49057-1

  • Online ISBN: 978-3-319-49058-8

  • eBook Packages: EngineeringEngineering (R0)

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