Name
Abstract | ||
|---|---|---|
This research aims at the control of the inverted pendulum attached on the top plate of a mobile robot. Especially, when the mobile robot is climbing up the hill, the stable control of the inverted pendulum is a challenging problem. Considering the gravity of the pendulum according to the inclined angle, the mobile robot motion is controlled to keep the inverted pendulum upright while the mobile robot is changing the location. For this purpose, the dynamics of the mobile robot and inverted pendulum have been derived and utilized with the PID 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 shown. And also the effectiveness and validity the derived dynamics have been shown with various disturbances. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/CIRA.2009.5423237 | CIRA |
Keywords | Field | DocType |
optimisation,robot dynamics,inverted pendulum,motion control,inverted pendulum upright,mobile robots,stable control,mobile robot motion,real experiment,mobile robot dynamics,pendulums,nonlinear control systems,hill climbing algorithm,challenging problem,inclined angle,pid control,top plate,mobile robot,pid control algorithm,three-term control,hill climbing | Hill climbing,Robot control,Motion control,Inverted pendulum,Control theory,Simulation,Computer science,Control theory,Pendulum,Climbing,Mobile robot | Conference |
ISBN | Citations | PageRank |
978-1-4244-4809-8 | 1 | 0.38 |
References | Authors | |
1 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Howon Lee | 1 | 299 | 34.95 |
| Jun-Seok Lee | 2 | 25 | 5.25 |
| JangMyung Lee | 3 | 544 | 71.30 |