Development of a single controller for the compensation of several types of disturbances during task execution of a wheeled inverted pendulum assistant robot

摘要

This paper discusses the development of a control method intended for an Inverted PENdulum Type Assistant Robot (I-PENTAR) that can be applied to an array of tasks and motions using a single controller. This idea of “a single controller for different tasks” differs from most controllers in its class because it does not intend to estimate certain parameters and change gain values like in adaptive control, nor does it perform switching of the control gains based on a certain condition. Instead it estimates changes in the parameters and external forces as disturbances. At the heart of the control is the Extended State Observer that performs this estimation and compensation. Discussion regarding the application of the controller to the wheeled inverted pendulum as well as tests that represent the planned tasks of the system is presented.