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http://dx.doi.org/10.5391/JKIIS.2012.22.1.69

Dynamic Modeling of a Wheeled Inverted Pendulum for Inclined Road and Changing Its Center of Gravity  

Lee, Se-Han (경남대학교 기계공학부)
Rhee, Sang-Yong (경남대학교 컴퓨터공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.1, 2012 , pp. 69-74 More about this Journal
Abstract
In this research equations of motion of a Wheeled Inverted Pendulum (WIP) which is running on the inclined road and changing its center of gravity. Difference between a conventional cart inverted pendulum and the WIP is also considered. The WIP has small planar size so that it has been used as a mobile platform for several applications which require slender frame in order to travel on the narrow road. The WIP has almost the same unstable properties as conventional inverted pendulums have. There needs an aggressive control scheme for the WIP not to fall down. In order to design a high performance control scheme, equations of motion of the WIP, which is running under various environment and operating conditions, should be derived and considering its properties is necessary.
Keywords
Wheeled inverted pendulum; Changing center of gravity; Inclined road;
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