Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Efficient Horizontal Maintenance Technique for the Mobile Inverted Pendulum

모바일 역진자의 효율적 수평유지 기법

  • 윤재무 (부산대학교 전자공학과) ;
  • 이재경 (충주대학교 정보제어공학과) ;
  • 이장명 (부산대학교 전자공학과)
  • Published : 2007.07.01
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Abstract

A new dynamic balancing algorithm has been proposed to minimize the number of sensors necessary for the horizontal balancing of the mobile inverted pendulum while maintaining the same level of the commercial performance. The inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which results in the high price. In this research, a single gyro and a tilt sensor are fused to obtain the absolute tilt information, which is applied for the control of the mobile inverted pendulum. A dynamic balancing technique has been developed and applied for a robust control system against disturbances. The intelligent handling and stable curving of the Segway as a next generation mobile tool are verified with a human loading.

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References

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