By Topic

High-Speed Motion Control of Wheeled Inverted Pendulum Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Shimada, A. ; Polytech Univ., Sagamihara ; Hatakeyama, N.

A high-speed motion control technique for inverted pendulum robots using unstability is introduced. Inverted pendulum is a self-regulated system that simulates the motion of a child swaying an umbrella or stick. The controller design for various pendulums was widely challenged during the 1980s. Later, the machines for human riding using this principle were developed and sold in the U.S. In addition, many biped walking robots have been developed based on this principle. Basically, inverted pendulums are automatically controlled as they do not fold up. However, this paper presents a contradicting theory. The controller of the inverted pendulum deliberately breaks down the balance while in motion. This shows that the controller is based on the unstability of the pendulum system. And when the pendulum stops, the controller regains the balance. For implementing this concept, the controller is designed using partial feedback linearization, which controls the tilt angle of the pendulum robot. At first, the horizontal position of the robot is neglected by the controller. However, the position of the pendulum successfully becomes controlled as a result. This paper presents the simulation and experimental results to establish the adequacy of the proposed method.

Published in:

Mechatronics, ICM2007 4th IEEE International Conference on

Date of Conference:

8-10 May 2007