Robust control design of wheeled inverted pendulum assistant robot

This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR U+0028 inverted pendulum type assistant robot U+0029. The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator U+0028 LQR U+0029, linear quadratic Gaussian control U+0028 LQG U+0029, H2 control and H U+221E control. Simulation is performed for all the approaches yielding good performance results.