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Direct tilt angle control on inverted pendulum mobile robots | IEEE Conference Publication | IEEE Xplore

Direct tilt angle control on inverted pendulum mobile robots


Abstract:

This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance...Show More

Abstract:

This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance observer using the Kalman filtering technique. The DTAC is expected to be an effective for high acceleration, and the presented observer achieves a better estimation even if tilt joint angle sensor is a poorly-resolved. Although we have presented it in the previous papers and conferences, a drawback remains and it is shown high-speed curve and fast turn motions. It seems that the tilt angle sensor attached in the pendulum body causes instable during curved and turning motions. Where the sensor consistes of a rotary encoder with two thin and light arms which touch the floor. To fix this problem, we have adopted a gyro scope and concurrently design an observer. The gyro scopes are well-known and the basic structure of the observer is the same as the one presented by S.Matsumoto, Y.Fujimoto, et.al. However, this paper describes a try combining it with our original DTAC scheme.
Date of Conference: 21-24 March 2010
Date Added to IEEE Xplore: 13 May 2010
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Conference Location: Nagaoka, Japan

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