Driving control of mobile inverted pendulum

摘要

This research aims at the control of the inverted pendulum attached on the top plate of a mobile robot. Conventional approaches focus on the balance of the pendulum while the mobile platform is moving. However in this research it is designed to follow the desired trajectory of the mobile robot. For the purpose, the acceleration as well as pose of the mobile platform need to be controlled. Especially, when the mobile robot is curvilinear motion, the stable control of the inverted pendulum is a challenging problem. The mobile robot motion is controlled to keep the inverted pendulum upright while the mobile robot is moving to the goal position. For this purpose, the dynamics of the mobile robot and inverted pendulum have been derived and utilized with the velocity estimator control algorithm to keep the inverted pendulum upright. Through the real experiments, the range of disturbance which can be overcome by the controller has been verified and utilized to control the pendulum. And also the effectiveness and validity the derived dynamics have been shown with various disturbances.