Tracking control of a spherical inverted pendulum with an omnidirectional mobile robot

Sho Tsung Kao, Ming-Tzu Ho

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

1 Citation (Scopus)

Abstract

This paper considers the problems of design and implementation of trajectory tracking control of a spherical inverted pendulum with an omni-directional mobile robot. The control objective is to control the robot to track the desired translational trajectory with desired orientation while maintaining the inverted pendulum in its upright position. The mathematical models of the spherical pendulum and omnidirectional mobile robot are given to facilitate the control analysis and design. Based on linear output regulation, and inverse dynamics, a tracking controller is designed to achieve asymptotic trajectory and orientation tracking. The designed control law is implemented on a digital signal processor and tested on an experimental apparatus. The effectiveness of the designed control scheme is validated through experimental studies. The results show that the robot is able to track the reference trajectory and reference orientation while balancing the inverted pendulum.

Original languageEnglish
Title of host publication2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781538624197
DOIs
Publication statusPublished - 2018 Feb 20
Event2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 - Taipei, Taiwan
Duration: 2017 Sep 62017 Sep 8

Publication series

NameInternational Conference on Advanced Robotics and Intelligent Systems, ARIS
Volume2017-September
ISSN (Print)2374-3255
ISSN (Electronic)2572-6919

Other

Other2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
CountryTaiwan
CityTaipei
Period17-09-0617-09-08

Fingerprint

Pendulums
Mobile robots
Trajectories
Robots
Digital signal processors
Mathematical models
Controllers

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Artificial Intelligence

Cite this

Kao, S. T., & Ho, M-T. (2018). Tracking control of a spherical inverted pendulum with an omnidirectional mobile robot. In 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 [8297182] (International Conference on Advanced Robotics and Intelligent Systems, ARIS; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ARIS.2017.8297182
Kao, Sho Tsung ; Ho, Ming-Tzu. / Tracking control of a spherical inverted pendulum with an omnidirectional mobile robot. 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017. Institute of Electrical and Electronics Engineers Inc., 2018. (International Conference on Advanced Robotics and Intelligent Systems, ARIS).
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Kao, ST & Ho, M-T 2018, Tracking control of a spherical inverted pendulum with an omnidirectional mobile robot. in 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017., 8297182, International Conference on Advanced Robotics and Intelligent Systems, ARIS, vol. 2017-September, Institute of Electrical and Electronics Engineers Inc., 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017, Taipei, Taiwan, 17-09-06. https://doi.org/10.1109/ARIS.2017.8297182

Tracking control of a spherical inverted pendulum with an omnidirectional mobile robot. / Kao, Sho Tsung; Ho, Ming-Tzu.

2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017. Institute of Electrical and Electronics Engineers Inc., 2018. 8297182 (International Conference on Advanced Robotics and Intelligent Systems, ARIS; Vol. 2017-September).

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

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AB - This paper considers the problems of design and implementation of trajectory tracking control of a spherical inverted pendulum with an omni-directional mobile robot. The control objective is to control the robot to track the desired translational trajectory with desired orientation while maintaining the inverted pendulum in its upright position. The mathematical models of the spherical pendulum and omnidirectional mobile robot are given to facilitate the control analysis and design. Based on linear output regulation, and inverse dynamics, a tracking controller is designed to achieve asymptotic trajectory and orientation tracking. The designed control law is implemented on a digital signal processor and tested on an experimental apparatus. The effectiveness of the designed control scheme is validated through experimental studies. The results show that the robot is able to track the reference trajectory and reference orientation while balancing the inverted pendulum.

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Kao ST, Ho M-T. Tracking control of a spherical inverted pendulum with an omnidirectional mobile robot. In 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017. Institute of Electrical and Electronics Engineers Inc. 2018. 8297182. (International Conference on Advanced Robotics and Intelligent Systems, ARIS). https://doi.org/10.1109/ARIS.2017.8297182