Title :
JOE: a mobile, inverted pendulum
Author :
Grasser, Felix ; D´Arrigo, Aldo ; Colombi, Silvio ; Rufer, Alfred C.
Author_Institution :
Ind. Electron. Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland
fDate :
2/1/2002 12:00:00 AM
Abstract :
The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology, Lausanne, Switzerland, has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state-space controllers, pilots the motors so as to keep the system in equilibrium
Keywords :
DC motor drives; control systems; mobile robots; motion control; nonlinear systems; pendulums; state-space methods; traction motor drives; DC motor; JOE; Switzerland; coaxial wheels; control system; decoupled state-space controllers; mobile inverted pendulum; robotics; state-space control; stationary U-turns; system equilibrium; two-wheeled electric vehicle; Angular velocity; Control systems; Couplings; DC motors; Driver circuits; Industrial electronics; Laboratories; Prototypes; Vehicles; Wheels;
Journal_Title :
Industrial Electronics, IEEE Transactions on
