Dynamical modeling and swing-up control of a self-balancing cube

Abstract

In this paper a balancing cube is presented. Driven flywheels are used as actuators for the balancing control. The cube is additionally equipped with an IMU measuring the orientation and rotational velocity of the cube. The control is done on an embedded control system. Based on the kinematical and dynamical modelling, two methods for swing-up of the cube are presented. The first one makes use of pre-defined trajectories, while for the second one a time/energy optimal solution subject to technological constraints is performed. Proportional control laws based on velocities and orientation measurements are used for stabilization. To demonstrate the effectiveness of the test bench, experimental results are shown.