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http://dx.doi.org/10.5302/J.ICROS.2007.13.7.656

An Efficient Horizontal Maintenance Technique for the Mobile Inverted Pendulum  

Yun, Jae-Mu (부산대학교 전자공학과)
Lee, Jae-Kyoung (충주대학교 정보제어공학과)
Lee, Jang-Myung (부산대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.7, 2007 , pp. 656-663 More about this Journal
Abstract
A new dynamic balancing algorithm has been proposed to minimize the number of sensors necessary for the horizontal balancing of the mobile inverted pendulum while maintaining the same level of the commercial performance. The inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which results in the high price. In this research, a single gyro and a tilt sensor are fused to obtain the absolute tilt information, which is applied for the control of the mobile inverted pendulum. A dynamic balancing technique has been developed and applied for a robust control system against disturbances. The intelligent handling and stable curving of the Segway as a next generation mobile tool are verified with a human loading.
Keywords
mobile inverted pendulum; gyro sensor; tilt sensor; segway;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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