Trajectory following control of mobile inverted pendulum robot with pre-determined tilt angle

Abstract

S-curved trajectory following control of a mobile inverted pendulum robot (MIR) was implemented in this research based on the MIR dynamics. The tilt angle of the inverted pendulum was determined from the MIR dynamics for a given acceleration to keep the inverted pendulum stable. The driving algorithm for a four-wheeled mobile platform was designed using state feedback to keep the inverted pendulum upright while maintaining the desired velocity trajectory along the entire path. To overcome the disturbances produced by the mobile robot motion, the ground’s slant angle was detected by a tilt sensor and used to adjust the pendulum’s operating point. This allowed the MIR to be driven to the desired position while maintaining the desired velocity profile and keeping the inverted pendulum upright. The proposed algorithm was verified using real experiments with straight line and S-curved paths.