Development of a Rapid Mobile Robot with a Multi-Degree-of-Freedom Inverted Pendulum Using the Model-Based Zero-Moment Point Stabilization Method

2012 ◽  
Vol 26 (5-6) ◽  
pp. 515-535 ◽  
Author(s):  
Dongil Choi ◽  
Mingeuk Kim ◽  
Jun-Ho Oh
Keyword(s):  
Mobile Robot ◽  
Inverted Pendulum ◽  
Degree Of Freedom ◽  
Stabilization Method ◽  
Zero Moment Point ◽  
Model Based ◽  
Zero Moment ◽  
Point Stabilization

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

Sign in / Sign up

Export Citation Format

Share Document