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http://dx.doi.org/10.5391/JKIIS.2010.20.5.617

A Mixed H2/H∞ State Feedback Controller Based on LMI Scheme for a Wheeled Inverted Pendulum running on the Inclined Road  

Lee, Se-Han (경남대학교 기계자동화공학부)
Rhee, Sang-Yong (경남대학교 컴퓨터공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.5, 2010 , pp. 617-623 More about this Journal
Abstract
In this research an LMI based mixed $H_2/H_{\infty}$ controller for a Wheeled Inverted Pendulum is designed and a numerical simulation of that is carried out. The Wheeled Inverted Pendulum is a kind of an inverted pendulum that has two equivalent points. To keep that the naturally unstable equivalent point, a controller should control the wheels persistently. Dynamic equations of the Wheeled Inverted Pendulum are derived with considering inclined road that is one of the representative road conditions. A Linear Matrix Inequality method is used to construct a controller that is able to stabilize the Wheeled Inverted Pendulum with considering the inclined road condition aggressively. Various numerical simulations show that the LMI based controller is doing well on not only flat road but also inclined road condition.
Keywords
Wheeled inverted pendulum; Linear Matrix Inequality; State feedback; Inclined road;
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Times Cited By KSCI : 2  (Citation Analysis)
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