Movement control using zero dynamics of two-wheeled inverted pendulum robot

Naoya Hatakeyama, Akira Shimada

研究成果: Conference contribution

6 引用 (Scopus)

抜粋

A high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate agame that a child sways up umbrella or stick. And the controller design for various pendulums have widly challenged since 1970s. And the machines for human riding using this principle were developed in the U.S. Many biped walking robots have made use of this principle. Inverted pendulums are basically controlled as they do not fold up. Shiamda et.al. have insisted an opposite idea against the basic principle. The controller they presented broke down the balance of it on purpose when it moved. In order implement the idea, the controller was designed using zero dynamics which was derived by partial feedback linearization that controled the tilt angle of the robot. However, the robot can only move straightly. This paper introduces the extended motion including revolving and curve motion by using nonlinear control theory. Furthermore, it shows the simulation and experimental results for validity.

元の言語English
ホスト出版物のタイトルAMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings
ページ38-43
ページ数6
DOI
出版物ステータスPublished - 2008 12 1
イベント10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
継続期間: 2008 3 262008 3 28

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC
1

Conference

Conference10th International Workshop on Advanced Motion Control, AMC'08
Italy
Trento
期間08/3/2608/3/28

ASJC Scopus subject areas

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

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  • これを引用

    Hatakeyama, N., & Shimada, A. (2008). Movement control using zero dynamics of two-wheeled inverted pendulum robot. : AMC'08 - 10th International Workshop on Advanced Motion Control, Proceedings (pp. 38-43). [4516038] (International Workshop on Advanced Motion Control, AMC; 巻数 1). https://doi.org/10.1109/AMC.2008.4516038