Direct tilt angle control on inverted pendulum mobile robots

Yuta Shimizu, Akira Shimada

研究成果

6 被引用数 (Scopus)

抄録

This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance observer using the Kalman filtering technique. The DTAC is expected to be an effective for high acceleration, and the presented observer achieves a better estimation even if tilt joint angle sensor is a poorly-resolved. Although we have presented it in the previous papers and conferences, a drawback remains and it is shown high-speed curve and fast turn motions. It seems that the tilt angle sensor attached in the pendulum body causes instable during curved and turning motions. Where the sensor consistes of a rotary encoder with two thin and light arms which touch the floor. To fix this problem, we have adopted a gyro scope and concurrently design an observer. The gyro scopes are well-known and the basic structure of the observer is the same as the one presented by S.Matsumoto,Y.Fujimoto, et.al. However, this paper describes a try combining it with our original DTAC scheme.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ234-239
ページ数6
DOI
出版ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Conference

Conference2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
国/地域Japan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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