Movement control of two-wheeled inverted pendulum robots considering robustness

Akira Shimada, Naoya Hatakeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)

Abstract

We propose a high-speed robust motion control technique for inverted pendulum robots that utilizes forward and backward tilting as a control factor. An inverted pendulum is a self-regulated system simulating a child's game of swaying an umbrella or a stick upwards. The controller design for pendulums has been widely been challenged since the 1970s. A two-wheeled, self-balancing electric transportation device using the inverted pendulum's control principle was developed in the US. Many biped walking robots have also made use of this principle. Furthermore, the feature of space-saving of inverted pendulum robots will be highly regarded and they will contribute to our better lives. On the other hand, essentially, inverted pendulums possess better control characteristics since they do not fold up. Shimada and Hatakeyama suggested an idea that was contrary to this basic principle. Their controller was designed to brake down its balance when in motion. This was done using zero dynamics derived by partial feedback linearization, in order to control revolving and curving motion. However, this control system is a feedfoward control making use of forward and backward tilting and it is not robust. To solve this problem, we have designed a two degrees of freedom controller based on the feedfoward controller and H control technique. Finaly we present the simulation and experimental results for validity.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages3361-3365
Number of pages5
DOIs
Publication statusPublished - 2008
Externally publishedYes
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo
Duration: 2008 Aug 202008 Aug 22

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CityTokyo
Period08/8/2008/8/22

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Keywords

  • H control
  • Inverted pendulum
  • Partial feedback linearlization
  • Robust
  • Zero dynamics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Shimada, A., & Hatakeyama, N. (2008). Movement control of two-wheeled inverted pendulum robots considering robustness. In Proceedings of the SICE Annual Conference (pp. 3361-3365). [4655245] https://doi.org/10.1109/SICE.2008.4655245