Balancing of a spherical inverted pendulum with an omni-directional mobile robot

Sho Tsung Kao, Wan Jung Chiou, Ming-Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

A spherical inverted pendulum is a rod connected to a universal joint, which is attached to a horizontal movable base. The movable base is free to move on the plane acted on by a planar control force. It is a two-dimensional inverted pendulum. An omni-directional mobile robot is a special type of wheeled mobile robot that can perform translational movement along any desired path combined with any rotational movement. In this paper, we consider the problems of balancing a spherical inverted pendulum that is driven by an omni-directional mobile robot. A detailed dynamic model of the system is given for the control design and simulation study. By retaining the predominant nonlinear terms and neglecting the high-order coupling terms, the spherical inverted pendulum system model is simplified to two decoupled one-dimensional inverted pendulum systems. A stabilizing controller based on sliding mode control is designed for each decoupled system. In addition, a linear-quadratic regulator controller based on a linearized system model is also designed for performance comparison. The performance of the two control strategies is investigated through experimental studies.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Control Applications, CCA 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages760-765
Number of pages6
ISBN (Print)9781479915590
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad, India
Duration: 2013 Aug 282013 Aug 30

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other2013 IEEE International Conference on Control Applications, CCA 2013
CountryIndia
CityHyderabad
Period13-08-2813-08-30

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Fingerprint Dive into the research topics of 'Balancing of a spherical inverted pendulum with an omni-directional mobile robot'. Together they form a unique fingerprint.

Cite this