JOE: a mobile, inverted pendulum
Grasser, F.
D'Arrigo, A.
Colombi, S.
Rufer, A.C.
Ind. Electron. Lab., Swiss Fed. Inst. of Technol., Lausanne;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 2002
Volume: 49,
Issue: 1
On page(s): 107-114
ISSN: 0278-0046
References Cited: 9
CODEN: ITIED6
INSPEC Accession Number: 7177968
Digital Object Identifier: 10.1109/41.982254
Current Version Published: 2002-08-07
Abstract
The Industrial Electronics Laboratory at the Swiss Federal
Institute of Technology, Lausanne, Switzerland, has built a prototype of
a revolutionary two-wheeled vehicle. Due to its configuration with two
coaxial wheels, each of which is coupled to a DC motor, the vehicle is
able to do stationary U-turns. A control system, made up of two
decoupled state-space controllers, pilots the motors so as to keep the
system in equilibrium
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