LQR motion control of a ball-riding robot

The paper presents techniques and design methodologies for modeling and LQR motion control of a ball-riding robot driven by three omnidirectional wheels. A completely dynamic model of the robot moving on a flat terrain is derived using Lagrangian mechanics. Two LQR controllers are synthesized to achieve station keeping and point stabilization. Through computer simulations and experimental results, both proposed controllers together with the built ball-riding robot are successfully shown to give a satisfactory control performance.