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A dynamics-based posture-balancing control strategy for a new one-wheel pendulum robot (OWPR) is proposed and verified. The OWPR model includes a rolling wheel, a robot body with a steering axis, and a pendulum for lateral balancing. In constructing the dynamic model, three elements are generalized in comparison with existing robotic systems: the mass and inertia of the robot body, the “I”-type pendulum,...
In this paper, a novel fuzzy modeling method is developed for a class of nonlinear system. The idea comes from the concepts of the Takagi-Sugeno (T-S) fuzzy modeling technique, and this method is especially suitable for the nonaffine nonlinear system. Firstly, an inverted pendulum mounted on motor-driven cart is illustrated to demonstrate the validity of modeling result. Besides this example, a nonaffine...
In communication channel of a tele-operation control task, there always exists a time-delay problem which causes poor performance and even instability of the system. To overcome the time-delay problem, in this paper, the Smith predictor configuration is considered. The Smith predictor can stabilize the system by taking the time delay term out of the characteristic equation when the system model is...
Since 2007; at Waseda University, we have focused our research on developing advanced educational robotic tools to introduce the understanding of principles of Robot Technology (RT) to students at different educational levels. For this purpose; we have proposed the development of a two-wheeled inverted pendulum type mobile robot. In this paper, we present the development details of the Waseda Wheeled...
There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying...
This paper describes a systematic method for designing the robust controller for the inverted pendulum which is a nonlinear and single-input double-output system. The system is proved to work properly through simulation and experimentation. It controlled both a car and vertical bar for control inverted pendulum in gravity field. In particular, the system is controlled by PSID. Especially, the result...
This article presents the application of mobile inverted pendulum systems to design Boxingbots for robot boxing games. Intelligent control algorithms are applied to the Boxingbot whose structure is the mobile inverted pendulum robot with arms. The Boxingbot has the combined structure of a mobile robot and an inverted pendulum system. The reference compensation technique scheme is used for not only...
The inverted pendulum problem is well-known as a good application for control engineering. An autonomous robot can use the principle of the inverted pendulum for its design. A two-wheeled robot has both static and dynamic design considerations when using the inverted pendulum principle. This paper investigates the effect of varying mass characteristics on the step response of a self-balancing materials...
This paper presents the development of Inverted Pendulum System at King Mongkut's Institute of Technology Ladkrabang (KMITL), including the designing, construction and control system design. The stabilizing of an unstable system in optimal control scheme via state-space approach is applied. The LQG controller design examples including the addition of the quadratic derivatives of state variables term...
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