High-speed motion control of inverted pendulum robots

摘要

A high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate a game that a child sways up umbrella or stick. And the controller design for various pendulums have widely challenged in 1980s. After them, the machines for human riding using the same principle were developed and have been sold in U.S. And many biped walking robots have made use of the principle. Inverted pendulums are basically controlled as they do not fold up. This paper insists an opposite idea against the basic principle. The presented controller breaks down the balance of it on purpose when it moves. That means that the controller makes use of unstability of pendulum system. And when it stops, it redresses the balance again. In order to realize the idea, the controller is designed by using partial feedback linearization that controls the tilt angle of the pendulum robot. At that time, the controller doesn't care about the horizontal position of the robot. But the position can be successfully controlled as a result