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Micro Ball-Balancing Robot

EDUCATION > Projects > Micro Ball-Balancing Robot

Micro Ball-Balancing Robot

Mechanical Design and State-Feedback Control on the Balancing Robot at High Yaw Rates

Project Lead

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Assoc. Prof. Dr. Eng. Amir R. Ali 

Executive Deputy


Eng. Malek Mahmoud 

Project Members


Ahmed W. Elnahas, B.Sc. (2020)

Brief description for the project:

The state estimation and feedback control of the Micro ball-balancing robot is a very challenging problem due to the high nonlinearity of 3D dynamics. Therefore, an appropriate optimal controller is needed to solve this problem. In this project, due to the complex dynamics of the proposed system, we divided the main model into three independent planar models (XY, XZ and YZ) similar to the Mobile inverted pendulum (MIP) in dynamics. In addition, for the simplicity of dynamics, we have neglected any coupling effects between the three planar models. In this Bachelor thesis, our main goal is to design an appropriate control for smooth control of this system, so that different control approaches have been designed and developed for each planar model. The PD controller for the XY plane, the LQR and the FSF for the XZ and YZ plane. As all states are measured by IMU, the states are already measured and there is no need to implement an observer.


Challenges of the project:

After developing a planar model base controller, we recommend implementing a 3D model controller based on the existing planar model that we have developed in this Project for future work. However, we have made a number of assumptions in the planar model and neglected a number of factors, which have an effect on the motion equation of the system, so that these factors must be taken into account in any future work. Although the system is highly nonlinear so we have linearized the system to be able to control it by using LQR or FSF controller, which both are linear controllers, therefore, we recommend to implement a nonlinear controller to obtain a more accurate results and better stabilizing response.

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