Stabilization of a 2-DOF inverted pendulum using an OMP

Author

Doan, Phuc Thinh ; Dinh, Viet Tuan ; Kim, Hak Kyeong ; Kim, Sang Bong

Author_Institution

Dept. of Mech. & Automotive Eng., Pukyong Nat. Univ., Busan, South Korea

fYear

2011

fDate

Nov. 29 2011-Dec. 1 2011

Firstpage

1

Lastpage

6

Abstract

In this paper, stabilization of a 2-degrees-of-freedom (2-DOF) inverted pendulum using an omnidirectional mobile platform (OMP) is studied. The inverted pendulum is a rod that rotating around a universal joint structure with 2-DOF. The OMP consists of platform and three omnidirectional wheels that are moving on x - y plane and keeping the rod balance. The dynamic modeling of the 2-DOF inverted pendulum and the OMP are presented. From the dynamic equation, an adaptive backstepping control method is proposed to keep the rod balance with an assumption that the distance from the center of gravity of the rod to the rotary point on the OMP is unknown. Stability of the adaptive controller is proven by using Lyapunov function. Simulation and experimental results show the effectiveness of the proposed controller.

Keywords

Lyapunov methods; adaptive control; pendulums; stability; 2-DOF inverted pendulum; 2-degrees-of-freedom; Lyapunov function; adaptive backstepping control; adaptive controller; dynamic equation; dynamic modeling; omnidirectional mobile platform; omnidirectional wheels; rod balance; rotary point; stability; stabilization; universal joint structure; Backstepping; Equations; Gravity; Lyapunov methods; Mathematical model; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering and Industries (ICEI), 2011 International Conference on

Conference_Location

Jeju

Print_ISBN

978-1-4577-1999-8

Type

conf

Filename

6218533