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http://dx.doi.org/10.6113/TKPE.2011.16.2.162

Model Based Control System Design of Two Wheeled Inverted Pendulum Robot  

Ku, Dae-Kwan (순천향대 전기통신시스템공학과)
Ji, Jun-Keun (순천향대 전기통신공학과)
Cha, Guee-Soo (순천향대 전기통신공학과)
Publication Information
The Transactions of the Korean Institute of Power Electronics / v.16, no.2, 2011 , pp. 162-172 More about this Journal
Abstract
This paper proposes embedded System of two wheeled inverted pendulum robot designed by model based design method, using MATLAB/SIMULINK and LEGO NXT Mindstorms. At first, stability and performance of controller is verified through modeling and simulation. After that direct conversion from simulation model to C code is carried and effectiveness of controller is experimentally verified. Two wheeled inverted pendulum robot has basic function about autonomous balancing control using principle of inverted pedulum and it is also possible to arrive at destination. In this paper, state feedback controller designed by quadratic optimal control method is used. And quadratic optimal control uses state feedback control gain K to minimize performance index function J. Because it is easy to find gain, this control method can be used in the controller of two wheeled inverted pendulum robot. This proposed robot system is experimentally verified with following performances - balancing control, disturbance rejection, remote control, line following and obstacle avoidance.
Keywords
Two wheeled inverted pendulum; Model based control system design; MATLAB/SIMULINK; Quadratic optimal control;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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