A design of real-timewireless sensor-based control system for pendulum-like systems

This paper is concerned with development of a wireless sensor system, which is small and compact enough to be installed to mobile robots such as a segway-type robot. The sensor system has gyro and acceleration sensors, and the noise reduction is important for improving the measurement accuracy. The transmission delay is also important factor to realize the real-time control. Filtering of noise-contaminated measurement signals, information loss and delay of wireless transmission are taken into account. To evaluate these consideration, the wireless sensor system is installed to a segway-type robot, and is utilized for the stabilizing control of the robot. The considerations are effective, and leads to the successful stabilizing control and the improvement of the control performance.