Inverted Pendulum Mobile Robot Research Articles

Modeling and Optimal Controller Based on Disturbance Detector for the Stabilization of a Three-link Inverted Pendulum Mobile Robot

This work presents the realization of a complicated stabilization problem for a three inverted pendulum links-based mobile robot. The actuators of the mobile robot are direct current motors that have tachometer couplings to measure both the position and speed of the wheels and links. Using direct measurements under load and analyzing the deceleration curve, the motor parameters are determined experimentally. A mathematical model of the robot is obtained via the Euler–Lagrange equations. Next, the nonlinear model is linearized and discretized. Based on this discrete LTI model, an optimal controller is designed. The states and disturbances are estimated using a robust detector. Both the controller and detector are implemented in the robot processor. Numerical simulations and experimental tests show a good performance of the controller despite the presence of disturbances.

A memristor-based hybrid analog-digital computing platform for mobile robotics.

Algorithms for mobile robotic systems are generally implemented on purely digital computing platforms. Developing alternative computational platforms may lead to more energy-efficient and responsive mobile robotics. Here, we report a hybrid analog-digital computing platform enabled by memristors on a mobile inverted pendulum robot. Our mobile robotic system can tune the conductance states of memristors adaptively using a model-free optimization method to achieve optimal control performance. We implement sensor fusion and the motion control algorithms on our hybrid analog-digital computing platform and demonstrate more than one order of magnitude enhancement of speed and energy efficiency over traditional digital platforms.

Velocity control of a two-wheeled inverted pendulum mobile robot: a fuzzy model-based approach

This paper presents the design of a fuzzy tracking controller for balancing and velocity control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot based on its Takagi-Sugino (T-S) fuzzy model, fuzzy Lyapunov function and non-parallel distributed compensation (non-PDC) control law. The T-S fuzzy model of the TWIP mobile robot was developed from its nonlinear dynamical equations of motion. Stabilization conditions in a form of linear matrix inequalities (LMIs) were derived based on the T-S fuzzy model of the TWIP mobile robot, a fuzzy Lyapunov function and a non-PDC control law. Based on the derived stabilization conditions and the T-S fuzzy model of the TWIP mobile robot, a state feedback velocity tracking controller was then proposed for the TWIP mobile robot. The balancing and velocity tracking performance of the proposed controller was investigated via simulations. The simulation result shows the effectiveness of the proposed control scheme.

Conceptual Design Algorithm of a. Two-Wheeled Inverted Pendulum Mobile Robot for Educational Purposes

It is a great challenge for the universities to present undergraduate students the fundamental knowledge needed to develop intelligent unstable robots. Due to the inherent instability and nonholonomic constraints, the problem of two-wheeled inverted pendulum (TWIP) mobile robot is appealing and challenging case in control and dynamic systems. In this paper, an approach is presented to introduce undergraduate students of the control engineering, the principle of developing a. TWIP mobile robot. For this purpose, a. conceptual design algorithm for TWIP robots is contributed and based on the algorithm and the design criteria, a. prototype of the robot is constructed. In the construction process, the selection of mechanical and electronic components is based on the algorithm and the students can experience different control techniques to stabilize and control the system.

Inquiry-based learning: Development of an introductory manufacturing processes course based on a mobile inverted pendulum robot

This paper describes the development of an innovative introductory manufacturing processes course designed to expose students to a broad overview of fundamental concepts, methods, procedures, tools, and equipment used in the manufacturing industry. Based on an educational mobile inverted pendulum robot, students are introduced to product design and prototyping by identifying an existing problem with a component in the robot, redesigning the component using computer aided design software, and then building a prototype using additive manufacturing methods. Subsequently, a set of hypothetical design requirement changes is imposed, and various design methods and manufacturing processes that can be used to make components to satisfy these new requirements are discussed. Topics covered include integrated product design, additive manufacturing prototyping based on different technologies, plastic injection molding, sand casting, and fundamentals of both computer aided manufacturing and computer numerical control machining. Tools, fixtures, and accessories required in these processes, as well as associated challenges, are also discussed. This course adapts the inquiry-based learning active learning pedagogical approach and focuses on the development of students’ ability to conduct analytical analysis and to apply a knowledge of mathematics, science, engineering, and technology to solve practical engineering technology problems. As an introductory course designed to be offered to freshman level students, this course engages students in engineering technology related topics and stimulates their interest in manufacturing related subjects. It helps with improving the engineering student retention rate and serves as a pathway connecting students to more advanced specialized manufacturing courses such as computer numerical control machining technology. This paper presents course materials developed and student feedback as well as their evaluation of the course effectiveness based on a summative questionnaire-style survey from the first cohort of students.

Robust Navigational Control of a Two-Wheeled Self-Balancing Robot in a Sensed Environment

This research presents an improved mobile inverted pendulum robot called Two-wheeled Self-balancing robot (TWSBR) using a Proportional-Derivative Proportional-Integral (PD-PI) robust control design based on 32-bit microcontroller in a sensed environment (SE). The robot keeps itself balance with two wheels and a PD-PI controller based on the Kalman filter algorithm during the navigation process and is able to stabilize while avoiding acute and dynamic obstacles in the sensed environment. The Proportional (P) control is used to implement turn control for obstacle avoidance in SE with ultrasonic waves. Finally, in a SE, the robot can communicate with any of the Internet of Things (IoT) devices (mobile phone or Personal Computer) which have a Java-based transmission application installed and through Bluetooth technology connectivity for wireless control. The simulation results prove the efficiency of the proposed PD-PI controller in path planning, and balancing challenges of the TWSBR under several environmental disturbances. This shows an improved control system as compared to the existing improved Adaptive Fuzzy Controller.

Efficient Modeling and Posture Control of an Inverted-Pendulum Mobile Robot by Control Command Fusion

Efficient Modeling and Posture Control of an Inverted-Pendulum Mobile Robot by Control Command Fusion

Self Balancing Scooter

The self balancing scooter is a project that has become very popular in the field of engineering. This project draws on the theoretical principles of the equally popular experiment of the inverted pendulum. The inverted pendulum system, unlike many other control systems is naturally unstable. This unique behavior of the inverted pendulum has drawn interest from many researchers. Due to this unstable condition, a controller has to be designed so that the system reaches stability in the unstable state. The idea of a mobile inverted pendulum robot has surfaced in recent years and has attracted interest from control system researchers worldwide. A two wheel mobile robot in the inverted pendulum model is built. As the robot is mechanically unstable, it becomes necessary to explore the possibilities of implementing a control system to keep the system in equilibrium. This project is divided into three main groups which are the hardware implementation, software implementation, and the control algorithm. The discussion of the developments of each stage is covered in this report.

Nonlinear Optimal Control Design for Underactuated Two-Wheeled Inverted Pendulum Mobile Platform

In terms of the state-dependent Riccati equation (SDRE) control framework, a nonlinear motion control is investigated for the two-wheeled inverted pendulum (TWIP) mobile robot platform. As a critical design issue, the state dependent coefficient matrix is established based on the sound understanding of dynamic characteristics of the TWIP robot. The developed SDRE control solution has the merit of robust posture stabilization when the inverted pendulum robot experiences strong nonlinear behaviors due to abrupt external disturbances.

Development of a Balancing Robot with 2-wheels using the Smart In-Wheel Motor

A Balancing Robot with 2-Wheel using a Smart In-Wheel Motor based on an inverted pendulum model was introduced. Lately, research has been widely carried out for the inverted pendulum system. It because inverted pendulum systems have non-linearity characteristics, so it is an example of a good model to evaluate the performance of the controller. In this paper, a fuzzy logic control system design based on an inverted pendulum model is proposed to control a Segway-type robot, which is an inverted pendulum mobile robot. By designing a fuzzy logic system for control of the robot, the usefulness of control performance was confirmed, and measures to simplify the complexity of the controller design and to reduce the complex calculations of the controller were proposed.

이륜 도립진자 이동로봇을 위한 강인제어기 설계

The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks` Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.

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

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.

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

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.

Position Stabilization and Waypoint Tracking Control of Mobile Inverted Pendulum Robot

The mobile inverted pendulum (MIP) is a mechanical system that presents multiple control challenges. In particular, two objectives, namely desired position control and stabilization of the unstable pendulum-like central body, need to be simultaneously met. In this brief, we propose a novel smooth time-invariant controller to achieve the twin objectives. A feature of the controller design is that it readily extends to achieve waypoint tracking, another interesting task for mobile platforms. To validate the theory developed, an MIP has been indigenously designed and fabricated. Extensive experiments on the MIP have been performed. It has been observed that the system accomplishes position stabilization as well as waypoint tracking with negligible error.

Detection of Surface of the Road using Depth Sensor on the Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

Detection of Surface of the Road using Depth Sensor on the Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

A Study on Tracking Control of Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

A Study on Tracking Control of Pan-Tilt Unit for an Inverted Pendulum Mobile Robot

Balancing and navigation control of a mobile inverted pendulum robot using sensor fusion of low cost sensors

This article presents balancing and navigation control of the balancing robot called MIPS. MIPS is a mobile inverted pendulum system whose structure is a combination of a wheeled mobile robot and an inverted pendulum system. MIPS can navigate on the horizontal plane while balancing the pendulum body. Control performance relies upon the accuracy of sensors to measure a tilted angle. Low cost gyro and tilt sensors are used and fused to detect a balancing angle. Digital filters are selectively designed for sensors to measure an inclined angle accurately with respect to different frequencies. Performances of balancing and navigation of the MIPS are tested by experimental studies through remote control.

Kicking Motion Imitation of Inverted-Pendulum Mobile Robot and Development of Body Mapping from Human Demonstrator

This paper proposes a new method for learning the dynamic motion of an inverted-pendulum mobile robot from the observation of a human player’s demonstration. First, an inverted-pendulum mobile robot with upper and lower body links observes the human demonstration with a camera and extracts the human region in images. Second, the robot maps the region to its own two links and estimates link posture trajectories. The robot starts learning kicking based on the trajectory parameters for imitation. Through this process, our robot can learn dynamic kicking shown by a human. The mapping parameter gives an important role for successive imitation. A reasonable and feasible procedure of learning from observation for an inverted-pendulum robot is proposed. Learning performance from observation is investigated, then, the development of body mapping is proposed and investigated.

모바일 역진자의 수평유지와 주행을 위한 실시간 자세 제어

본 논문에서는 ARS(Attitude Refrence System)를 이용하여 모바일 역진자 로봇의 수평유지와 주행을 위한 자세 제어를 연구하였다. 현재 미국 및 여러 나라에서는 모바일 역진자 로봇에 대한 많은 연구가 진행되고 있으며 이를 이용한 세그 웨이 등을 개발하고 있다. 이러한 2자유도를 이용한 모바일 역진자 로봇은 다양한 모드로 움직일 수 있다. 모바일 역진자 로봇이 2바퀴로 수직 자세를 취하면 시스템이 안정을 취하기 위하여 항상 앞, 또는 뒤로 넘어지려는 성질을 가진다. 현재 자이로센서와 가속도센서를 혼합하는 알고리즘은 칼만필터가 일반적으로 이용되고있으며 많은 연구가 진행되고 있다. 본 연구에서 ARS는 2축의 자이로 각(roll, pitch)과 3축의 가속도계 값(x, y, z)값으로 자세를 계산하도록 하였다. 본 논문은 자율주행시스템인 2발 로봇 시스템으로 간단하지만 원하는 성능을 발휘할 수 있는 ARS와 PID 알고리즘을 이용한 자세 제어를 실현하였다. In this paper, configuration control for the Horizontal Maintenance and driving of the mobile inverted pendulum robot has been studied using ARS(Attitude Refrence System). The inverted pendulum technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a mobile inverted pendulum robot can move in various modes and Our robot performs goal reaching ARS. Mobile inverted pendulum robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the IMU and PID control.

물체의 효율적인 이송을 위한 양팔 로봇의 최적 자세

This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.