Control of a mobile inverted pendulum robot system

Author

Lee, Hyung-Jik ; Jung, Seul

Author_Institution

Dept. of Mechatron. Eng., Chungnam Nat. Univ., Daejeon

fYear

2008

Firstpage

217

Lastpage

222

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICCAS.2008.4694552

Filename

4694552