Movement Control Using Zero Dynamics of Two-wheeled Inverted Pendulum Robot

摘要

We propose a high-speed motion control technique for inverted pendulum robots that utilizes instability as a control factor. An inverted pendulum is a self-regulated system simulating a child's game of swaying an umbrella or a stick upwards. The controller design for pendulums has been widely been challenged since the 1970s. A two-wheeled, self-balancing electric transportation device using the inverted pendulum's control principle was developed in the US. Many biped walking robots have also made use of this principle. Essentially, inverted pendulums possess better control characteristics since they do not fold up. Shimada and Hatakeyama suggested an idea that was contrary to this basic principle. Their controller was designed to brake down its balance when in motion. This was done using zero dynamics derived by partial feedback linearization, in order to control the tilt angles of the robots. However, such robots can only move in a straight line. We introduce extended motion including revolving and curving by using a nonlinear control technique. We also present the simulation and experimental results.