Posture control of inverted pendulum cart with balancing mechanism using full-order state observer

A lot of researches on inverted pendulum cart are conducted in recent years. And it attracts as a personal vehicle that realizes energy saving for many practical applications. However, because most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive. Therefore, an inverted pendulum cart with a sliding mechanism for posture control that could be ridden by anyone has been developed. In this paper, we propose that inverted pendulum cart runs keeping posture perpendicularly. First, algorithm to estimate the lean angle, that is calculated based on the center of gravity of the cart, using the full-order state observer is proposed. Secondly, algorithm to keep the posture of cart perpendicular against the change of the center of gravity is proposed. Then, desired position of slider is calculated based on the estimated lean angle. Finally, the effectiveness of algorithm is confirmed through a simulation.