New Dynamic Model and Simulation of the Ballbot Using Reaction Wheels

摘要

In this paper, a modified approach to stabilize the ballbot is presented using reaction wheels. Unlike recent ballbots, reaction wheels are added to the system. A mathematical model is formulated with the help of Lagrangian mechanics to the modified ballbot. The controllers PID and LQR are considered for position balancing. The effect of reaction wheels to the ballbot is studied and compared to the performance of ballbot without reaction wheels case.