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http://dx.doi.org/10.7746/jkros.2011.6.4.317

Design of an Augmented State Feedback Controller for a Wheeled Inverted Pendulum Returning to the Origin  

Lee, Se-Han (경남대학교 기계자동화공학부)
Publication Information
The Journal of Korea Robotics Society / v.6, no.4, 2011 , pp. 317-322 More about this Journal
Abstract
An augmented state feedback controller for a Wheeled Inverted Pendulum (WIP) is proposed in this research. The augmented state feedback controller is able to keep the WIP returning to the origin. Generally, the WIP has both stable and unstable equilibrium points. To keep the WIP over the unstable equilibrium point, the WIP consistently is being controlled. A simple state feedback controller is letting the WIP out of the origin when the center of gravity of the WIP locates out of the schematic center line. In some case of applications, it may not be desirable that the WIP is drifting out of the initial location. The proposed augmented state feedback controller is able to keep the WIP at the initial location whether its center of gravity lies out of the center line or not. Numerical simulations are carried out to show the validation of the augmented sated feedback controller.
Keywords
Wheeled Inverted Pendulum; Center of gravity; Augmented state feedback control;
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Times Cited By KSCI : 3  (Citation Analysis)
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