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

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Abstract

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.

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Authors and Affiliations

Authors

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Correspondence to Jangmyung Lee.

Additional information

Recommended by Associate Editor Yang Shi

Mihee Nam received the B.S. degree in Mechanical Design Engineering from Chungnam National University, Deajeon, Korea, in 2001 and the M.S. degree in Mechanical Engineering from Yonsei University, Seoul, Korea, in 2003. Since 2003, she has been working for Samsung Heavy Industries, Geoje, Korea. She is currently pursuing her Ph.D. in the Robotics Related Interdisciplinary Course at Pusan National University. Her research interests include robotic control and automatic system control.

Seong-Ik Han received his B.S. and M.S. degrees in Mechanical Engineering from Pusan National University, Busan, Korea, in 1987 and 1989, respectively, and his Ph.D. in Mechanical Design Engineering from Pusan National University, Busan,in 1995. From 1995 to 2009, he was anassociate professor of electrical automation of Suncheon First College, Korea. Now he is with the Department of electronic engineering, Pusan National University, Korea. His research interests include intelligent control, nonlinear control, robotic control, vehicle system control, and steel process control.

Jangmyung Lee received the B.S. and the M.S. in Electronic Engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and a Ph.D. in Computer Engineering from the University of Southern California (USC), Los Angeles, in 1990. Since 1992, he has been a professor with the Intelligent Robot Laboratory, Pusan National University, Busan, Korea. His current research interests include intelligent robotic systems, advanced control algorithm and specialized environment navigation/localization.

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Nam, M., Han, S. & Lee, J. Trajectory following control of mobile inverted pendulum robot with pre-determined tilt angle. J Mech Sci Technol 29, 5417–5424 (2015). https://doi.org/10.1007/s12206-015-1143-5

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  • DOI: https://doi.org/10.1007/s12206-015-1143-5

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