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Low order decentralized stabilizing controller design for a mobile inverted pendulum robot

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2 Author(s)
C. R. Magers ; Masimo Corporation, Irvine, CA 92618, USA ; A. N. Gundes

We propose a low order two-channel decentralized controller design for stabilizing the multi-input multi-output linearized model of a self balancing autonomous robot. The robot model is based on a form of an inverted pendulum and the robot was constructed into a mechanical system in order to implement the stabilizing controller design.

Published in:

2009 American Control Conference

Date of Conference:

10-12 June 2009