anssun / analysis-and-stability-of-a-single-wheel-robot Goto Github PK
View Code? Open in Web Editor NEWIn this Ballbot system there was analysis for stability and Controllability of the robot. I found ways to control the Ballbot system for balancing at different electric motor torque during the course of its motion. Also, I designed the linear system of this Ball-bot at its equilibrium point. Moreover, I devised the non-linear system model for Ballbot to analyze its controllibility and stability. For simplicity, I assumed whole balancing system as an inverted pendulum
License: MIT License