This paper shows how to identify and control a mouse type Ballbot. The Ballbot is an unstable complex system. Using the first principle law to model the robot is not accurate enough. An identification method is proposed. The model is transformed to be MIMO state space model and using a convexconcave optimization to design a robust PI+phase-lead controller. Experiments on a design Ballbot are presented. It turns out that an identification model of Bollbot and a PI+phase-lead controller design framework is suitable for using to control a Ballbot
Boonto, Sudchai and Puychaisong, Surapong
"MOUSE TYPE BALLBOT IDENTIFICATION AND CONTROL USING A CONVEX-CONCAVE OPTIMIZATION,"
Journal of Marine Science and Technology: Vol. 28
, Article 10.
Available at: https://jmstt.ntou.edu.tw/journal/vol28/iss5/10