Implementation and Closed Loop Identification of a Two Wheeled Inverted Pendulum Mobile Robot

Author

Morales, Gladys Y. ; Plazas, Sergio A. ; Cómbita, Luis F.

Author_Institution

Dept. of Electron. Eng., Univ. Distrital FJC, Bogota, Colombia

fYear

2012

fDate

16-19 Oct. 2012

Firstpage

97

Lastpage

102

Abstract

In this paper the hardware development for the implementation of a Two Wheeled Inverted Pendulum (TWIP) and the closed loop identification process is described. In the identification process, a linear model for a single-input multiple-output (SIMO) system is used for representing the robot dynamics. The Sum of the Square Error (SSE) is adopted as the comparison criteria between the output of the simulated model and the output data measured from the robot implemented.

Keywords

MIMO systems; closed loop systems; mobile robots; nonlinear control systems; pendulums; robot dynamics; SIMO; SSE; TWIP; closed loop identification; implementation loop identification; robot dynamics; single input multiple output system; sum of the square error; two wheeled inverted pendulum mobile robot; Accelerometers; Data models; Gyroscopes; Mathematical model; Mobile robots; System identification; TWIP; complementary filter; linear model; system identification;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian

Conference_Location

Fortaleza

Print_ISBN

978-1-4673-4650-4

Type

conf

DOI

10.1109/SBR-LARS.2012.23

Filename

6363326