A Topological View on Forced Oscillations and Control of an Inverted Pendulum

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

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Implementation and Control of a Bistable Two-Wheeled Inverted Pendulum-Type Mobile Robot

Advances in Intelligent Systems and Computing - Robot Intelligence Technology and Applications 4 ◽

10.1007/978-3-319-31293-4_14 ◽

2016 ◽

pp. 171-183

Author(s):

Kwangyik Jung ◽

Byung Kook Kim ◽

Hyun Myung

Keyword(s):

Mobile Robot ◽

Inverted Pendulum ◽

Wheeled Inverted Pendulum ◽

And Control

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System design for inverted pendulum using LQR control via IoT

International Journal for Simulation and Multidisciplinary Design Optimization ◽

10.1051/smdo/2020007 ◽

2020 ◽

Vol 11 ◽

pp. 12

Author(s):

Dechrit Maneetham ◽

Petrus Sutyasadi

Keyword(s):

Inverted Pendulum ◽

Control Method ◽

Linear Quadratic Regulator ◽

Linear Quadratic ◽

Lqr Control ◽

Lqr Controller ◽

Model Tuning ◽

And Performance ◽

Performance Results ◽

And Control

This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT communication developed will monitor to check the all conditions and performance results as well as help the inverted pendulum improved various operations of IoT control is discussed.

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