Title :
Control of a mobile inverted pendulum robot system
Author :
Lee, Hyung-Jik ; Jung, Seul
Author_Institution :
Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon
Abstract :
In this paper, the mobile inverted pendulum robot system is developed and controlled. Kinematics and dynamics are derived. Frequency responses of a gyro sensor and a tilt sensor are analyzed. A sensor fusion technique is used to compensate for the gyro sensor drift. Instead of using expensive sensors, a cost effective gyro sensor and a tilt sensor are fused together by filtering to estimate angle of the pendulum. For experimental studies, circular trajectory tracking control has been performed experimentally.
Keywords :
frequency response; mobile robots; nonlinear control systems; pendulums; position control; robot dynamics; robot kinematics; sensor fusion; circular trajectory tracking control; frequency responses; gyro sensor drift; mobile inverted pendulum robot system; sensor fusion; tilt sensor; Automatic control; Control systems; Costs; Kinematics; Linear feedback control systems; Mechatronics; Mobile robots; Robot sensing systems; Robotics and automation; Sensor fusion; Mobile inverted pendulum; complementary filter; gyro drift;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694552
