부산대학교 도서관

In this paper, the momentum wheel and heavy pendulum are used as dual control elements, and the coope-rative control system based on the conservation of Angular momentum is studied to drive the spherical robot. The algorithm complexity of the robot is reduced through model decoupling. A nonlinear controller based on the Inter-connection and Damping Assignment Passivity Based Control (IDA-PBC) method was designed to stabilize the robot's roll angle for the momentum wheel, and a Proportional Integral Derivative (PID) controller with feedforward control and output angle was designed for the heavy pendulum. The experiment proves the feasibility of the cooperative control system, The experiment also proves that the maximum stable running speed of the spherical robot is increased by the cooperative control system to more than four times of the original speed and retains a certain turning ability, and retains a certain turning ability, and has a certain robustness when running at high speed.