TY - GEN
T1 - Balancing of a spherical inverted pendulum with an omni-directional mobile robot
AU - Kao, Sho Tsung
AU - Chiou, Wan Jung
AU - Ho, Ming-Tzu
PY - 2013/1/1
Y1 - 2013/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/CCA.2013.6662841
DO - 10.1109/CCA.2013.6662841
M3 - Conference contribution
AN - SCOPUS:84902284919
SN - 9781479915590
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 760
EP - 765
BT - 2013 IEEE International Conference on Control Applications, CCA 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2013 IEEE International Conference on Control Applications, CCA 2013
Y2 - 28 August 2013 through 30 August 2013
ER -