Mathematical Model Based Attitude Control of Inverted Pendulum Type Mobile Robot

Abstract:

In this paper, attitude control method based on mathematical model for inverted pendulum type mobile robot was proposed. After the inverted pendulum type mobile robot platform was designed, a mathematical modeling was performed. Also, the motor parameters and the mechanism parameters were estimated, and then the estimated parameters were substituted into the mathematical model to obtain the state-space model of mobile robot platform. Using this, a PID controller was designed, and simulations were performed. Also, the experiments were performed after applying it to the mobile robot platform. The simulation and experimental results were obtained similarly, and attitude control performance was excellent.

• Periodical: Applied Mechanics and Materials (Volumes 789-790)
• Pages: 700-704
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.789-790.700
• Online since: September 2015
• Authors: Jin Ho Yoon*, Ah Do Ko, Kil Hwan Choi, Hyoung Bae Park, Myung Jin Chung
• Keywords: Attitude Control, Inverted Pendulum, Mathematical Model, Mobile Robot

References

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