Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지
DOI QR코드

DOI QR Code

A Derivation of the Equilibrium Point for a Controller of a Wheeled Inverted Pendulum Running on an Inclined Road

경사면을 주행하는 차륜형 역진자의 평형점 상태에 관한 연구

  • Lee, Se-Han (School of Mechanical Engineering and Automation, Kyungnam Univ.) ;
  • Kang, Jae-Gwan (School of Mechanical Engineering and Automation, Kyungnam Univ.)
  • 이세한 (경남대학교 기계자동화공학부) ;
  • 강재관 (경남대학교 기계자동화공학부)
  • Received : 2011.05.30
  • Accepted : 2011.10.01
  • Published : 2012.01.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this research an equilibrium point of a Wheeled Inverted Pendulum (WIP) running on an inclined road is derived and validated by some experiments. Generally, The WIP has stable and unstable equilibrium point. Only unstable equilibrium point is interested in the research. To keep the WIP on the unstable equilibrium point, the WIP is consistently controlled. A controller for the WIP needs a reference state for the equilibrium point. The reference state can be obtained by studying an equilibrium point of the WIP. This research is deriving dynamic equations of the WIP running on the inclined road and equilibrium of it based on statics. Several experiments are carried out to show the validation of the equilibrium point.

Keywords

References

  1. Kapitza, P. L., "Collected Papers of P. L. Kapitza, edited by D. Ter Haar, Vol. 2," Pergamon Press, p. 174, 1965.
  2. Jung, S.-H., Choi, J.-N. and Oh, S.-K., "Design of Optimized Fuzzy Controller by Means of HFC-based Genetic Algorithms for Rotary Inverted Pendulum System," Journal of Korean Institute of Intelligent Systems, Vol. 18, No. 2, pp. 236-242, 2008. https://doi.org/10.5391/JKIIS.2008.18.2.236
  3. Shin, H.-S., Chu, J.-U., Lee, S. and Lee, Y.-J., "Fuzzy Control and Implementation of a 3-Dimensional Inverted Pendulum System," Journal of Fuzzy Logic and Intelligent Systems, Vol. 13, No. 2, pp. 137-147, 2003. https://doi.org/10.5391/JKIIS.2003.13.2.137
  4. Kim, J. H., Park, U. S. and Choi, J. W., "Implementation of a Parallel Inverted Pendulum System with Decoupling Control," Journal of the Korean Society of Precision Engineering, Vol. 17, No. 7, pp. 162-169, 2000.
  5. Grasser, G., D'Arrigo, A., Colombi, S. and Rufer, A. C., "JOE A Mobile, Inverted Pendulum," IEEE Transactions on Industrial Electronics, Vol. 49, No. 1, pp. 107-114, 2002. https://doi.org/10.1109/41.982254
  6. Kang, C.-S., Noh, K.-K., Kong, J.-S. and Kim, J.-G., "A Smooth Trajectory Generation for an Inverted Pendulum Type Biped Robot," Journal of the Korean Society of Precision Engineering, Vol. 22, No. 7, pp. 112-121, 2005.
  7. http://www.segway.com/aboutus/press_releases/pr_120301.html
  8. http://www.toyota.co.jp/jp/news/08/Aug/nt08_0805.html
  9. Searock, J., Browning, B. and Velocoso, M., "Turning Segways into Soccer Robots," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 1029-1034, 2004.
  10. Ambrose, R. O., Savely, R. T., Goza, S. M., Strawser, P., Dftler, M. A., Spain, I. and Radford, N., "Mobile Manipulation using NASA's Rbonaut," Proceedings of IEEE International Conference on Robotics & Automation, Vol. 2, pp. 2104-2109, 2003.
  11. Furuta, K., Kajiwara, H. and Kosuge, K., "Digital control of a double inverted pendulum on an inclined rail," International Journal of Control, Vol. 32, No. 5, pp. 907-924, 1980. https://doi.org/10.1080/00207178008922898
  12. Matsumoto, S., Kajita, S. and Tani, L., "Estimation and Control of the Attitude of a Dynamic Mobile Robot Using Internal Sensors," Journal of Robotic Society of Japan, Vol. 8, No. 5, pp. 37-46, 1990.
  13. Lee, S.-H. and Rhee, S.-Y., "A Mixed $H_{2}/H_{{\infty}}$ State Feedback Controller Based on LMI Scheme for a Wheeled Inverted Pendulum Running on the Inclined Road," Journal of Korean Institute of Intelligent Systems, Vol. 20, No. 5, pp. 617-623, 2010. https://doi.org/10.5391/JKIIS.2010.20.5.617

Cited by

  1. A Development of the Self-Standable Mobile Robot Based on a Wheeled Inverted Pendulum Mechanism vol.30, pp.2, 2013, https://doi.org/10.7736/KSPE.2013.30.2.171