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

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

研究成果: Conference contribution

7 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2013 IEEE International Conference on Control Applications, CCA 2013
發行者Institute of Electrical and Electronics Engineers Inc.
頁面760-765
頁數6
ISBN(列印)9781479915590
DOIs
出版狀態Published - 2013 一月 1
事件2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad, India
持續時間: 2013 八月 282013 八月 30

出版系列

名字Proceedings of the IEEE International Conference on Control Applications

Other

Other2013 IEEE International Conference on Control Applications, CCA 2013
國家India
城市Hyderabad
期間13-08-2813-08-30

All Science Journal Classification (ASJC) codes

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

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