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http://dx.doi.org/10.7736/KSPE.2012.29.1.072

A Derivation of the Equilibrium Point for a Controller of a Wheeled Inverted Pendulum Running on an Inclined Road  

Lee, Se-Han (School of Mechanical Engineering and Automation, Kyungnam Univ.)
Kang, Jae-Gwan (School of Mechanical Engineering and Automation, Kyungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.1, 2012 , pp. 72-78 More about this Journal
Abstract
In this research an equilibrium point of a Wheeled Inverted Pendulum (WIP) running on an inclined road is derived and validated by some experiments. Generally, The WIP has stable and unstable equilibrium point. Only unstable equilibrium point is interested in the research. To keep the WIP on the unstable equilibrium point, the WIP is consistently controlled. A controller for the WIP needs a reference state for the equilibrium point. The reference state can be obtained by studying an equilibrium point of the WIP. This research is deriving dynamic equations of the WIP running on the inclined road and equilibrium of it based on statics. Several experiments are carried out to show the validation of the equilibrium point.
Keywords
Wheeled Inverted Pendulum; Equilibrium Point; Inclined Road; LQR Control;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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