By Topic

Gyro sensor drift compensation by Kalman filter to control a mobile inverted pendulum robot system

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
$33 $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)
Hyung-Jik Lee ; Department of Mechatronics Engineering, Chungnam National University, Deajoen, Korea ; Seul Jung

In this paper, a sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. The complimentary filter consisting of the lowpass filter for the gyro sensor and the highpass filter for the tilt sensor are used based on the frequency response characteristics of those sensors. The Kalman filter is used to estimate the angle based on filtered sensor data. Experimental studies of balancing and position control of the mobile inverted pendulum robot system are conducted to validate the proposed estimation method.

Published in:

Industrial Technology, 2009. ICIT 2009. IEEE International Conference on

Date of Conference:

10-13 Feb. 2009