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http://dx.doi.org/10.5391/JKIIS.2010.20.4.469

Experimental Studies of Controller Design for a Car-like Balancing Robot with a Variable Mass  

Kim, Hyun-Wook (지능 시스템 및 감성공학 실험실 충남대학교 메카트로닉스공학과)
Jung, Seul (지능 시스템 및 감성공학 실험실 충남대학교 메카트로닉스공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.4, 2010 , pp. 469-475 More about this Journal
Abstract
This paper presents controller design of a two wheeled mobile inverted pendulum robot for one man transportation vehicle. Since the overall mass is varying with different drivers, suitable controller gains are obtained through experimental studies. Variation of the center of gravity due to different masses also affects stable balancing control. Thus, the desired balancing angle si required to be modified with respect to different masses. To measure masses for different drivers, a weight scale is used and those data are used for balancing control through communication. The gain scheduling method of using data obtained from experimental studies allows the robot to have stable balancing performances.
Keywords
Two wheeled mobile robot; gain scheduling; balancing control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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