Design of a LEGO NXT Two-Wheeled Self-Balanced Robot Based on Inverted Pendulum Model

Jie Chen; Hong Wang

doi:10.4028/www.scientific.net/AMM.341-342.737

Paper Titles

Application of Uncertain Information Fusion in Diagnosis Decision of Electronic Equipment
p.715

Open Robot Control Platform Based on LSOA
p.719

Study on Museum Robot Trajectory Planning Based on the Controlled Path
p.727

The Design of Dual-Mode Traffic Lights Control System Based on FPGA
p.732

Design of a LEGO NXT Two-Wheeled Self-Balanced Robot Based on Inverted Pendulum Model
p.737

Numerical Analysis on Parameters Adjustment of Smoke Control System in a Complicated Underground Commercial Zone
p.743

Genetic Algorithm-Based COD Calibration Method Research
p.748

A Bio-Inspired Strategy for Robotic Fish Swimming in Unsteday Flows
p.754

Output Feedback Control of NCS with Communication Constraints
p.760

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 341-342Design of a LEGO NXT Two-Wheeled Self-Balanced...

Design of a LEGO NXT Two-Wheeled Self-Balanced Robot Based on Inverted Pendulum Model

Abstract:

Two-wheeled self-balanced robot based on the inverted pendulum model belongs to the category of the wheeled robots and it shares many characters with inverted pendulum, which are non-linear, strong coupling, multi-variable and parameter uncertainty. Because there are many methods to keep this unstable robot self-balanced, this kind of robot has become an ideal platform to verify various kinds of control theories. In this paper, the two-wheeled robot is built on LEGO NXT set and depends on the sensors like gyro, angle transducer to keep upright. The mathematic and kinetic model of the robot is established according to the Lagrangian Dynamics and state-space equation of the whole system is presented. At last, a kind of state feedback control with the state observer is set up to make the system closed and stable.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 341-342)

Pages:

737-742

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.341-342.737

Citation:

Cite this paper

Online since:

July 2013

Authors:

Jie Chen, Hong Wang

Keywords:

Inverted Pendulum, Lagrangian Dynamics, LEGO NXT, State Feedback Control, State Observer, Two-Wheeled Self-Balanced Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Y. Liu and F.Z. Dian, Applications of LEGO Mindstroms NXT in Basic Computer Education, Computer education, vol. 8, 2009, doi: 10. 3969/j. issn. 1672-5913. 2009. 08. 044.

Google Scholar

[2] W.H. Li, Research and Implementation of Chinese Firmware System of LEGO NXT Based on B/S, Value engineering, vol. 30, 2011, doi: 10. 3969/j. issn. 1006-4311. 2011. 10. 110.

Google Scholar

[3] R. C. Hibbeler, J.L. Wen andP.X. Wang. Engineering Machenics. Taipei, CHN: Princeton, (2010).

Google Scholar

[4] X.G. Ruan and H.G. Ren, Two-wheeled self-balancing mobile robot dynamic model and balancing control, Application reserch of computer, vol. 26, 2009, doi: 10. 3969/j. issn. 1001-3695. 2009. 01. 031.

Google Scholar

[5] X.P. Guan and Z.Q. Wu. Modern Control Theory. Beijing, CHN: Publishing House of Electronics Industry, (2012).

Google Scholar

[6] J.W. Wang. Control Theory and Control Engineering. Beijing, CHN: China Machine Press, (2010).

Google Scholar