Nonlinear Dynamics and Control of a Cube Robot

Teh-Lu Liao, Sian-Jhe Chen, Cheng-Chang Chiu and Jun-Juh Yan
Additional contact information
Teh-Lu Liao: Department of Engineering Science, National Cheng Kung University, Tainan 701, Taiwan
Sian-Jhe Chen: Department of Engineering Science, National Cheng Kung University, Tainan 701, Taiwan
Cheng-Chang Chiu: Department of Engineering Science, National Cheng Kung University, Tainan 701, Taiwan
Jun-Juh Yan: Department of Electronic Engineering, National Chin-Yi University of Technology, Taichung 41107, Taiwan

Mathematics, 2020, vol. 8, issue 10, 1-16

Abstract: The paper aims to solve problems of the mathematical modeling and realization of a cube robot capable of self-bouncing and self-balancing. First, the dynamic model of the cube robot is derived by using the conservation of the angular momentum and the torque equilibrium theory. Furthermore, the controllability of the cube robot is analyzed and the angle of the cube robot is derived from the attitude and heading reference system (AHRS). Then the parallel proportional–integral–derivative (PID) controller is proposed for the balancing control of the self-designed cube robot. As for the bounce control of the cube robot, a braking system triggered by the servo motor is designed for converting the kinetic energy to the potential energy. Finally, the experimental results are included to demonstrate that the cube robot can complete the actions of self-bouncing and self-balancing with good robustness to external disturbances.

Keywords: nonlinear dynamics; cube robot; attitude and heading reference system; PID controller (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2020
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
https://www.mdpi.com/2227-7390/8/10/1840/pdf (application/pdf)
https://www.mdpi.com/2227-7390/8/10/1840/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:8:y:2020:i:10:p:1840-:d:431170

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().