Hill climbing algorithm of an inverted pendulum

This research aims at the control of the inverted pendulum attached on the top plate of a mobile robot. Especially, when the mobile robot is climbing up the hill, the stable control of the inverted pendulum is a challenging problem. Considering the gravity of the pendulum according to the inclined angle, the mobile robot motion is controlled to keep the inverted pendulum upright while the mobile robot is changing the location. For this purpose, the dynamics of the mobile robot and inverted pendulum have been derived and utilized with the PID control algorithm to keep the inverted pendulum upright. Through the real experiments, the range of disturbance which can be overcome by the controller has been shown. And also the effectiveness and validity the derived dynamics have been shown with various disturbances.