2A1-A09 Switching Control of Mobile Reaction Wheel Pendulum

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概要

• 論文の詳細を見る

• When balancing human not only rely on the muscles of ankle joints but also other mechanism such as movements of upper body and hands. This observation suggested that additional balancing mechanisms will increase the stability of balancing dynamics. In this paper a mobile inverted pendulum equipped with an additional actuating mechanism is introduced. The system consists of a two-wheeled mobile platform attached with a reaction wheel which provides additional balancing torque to the system for improved balancing, especially in the case of base actuator saturation or failure. An inertia measurement unit comprises of a gyro sensor and an accelerometer is used to measure the tilt angle and tilt rate. Two linear-quadratic-regulator controllers are designed to control the base wheel and the reaction wheel respectively. In additional, a switching controller is designed to manage the switching transition of two controllers. Performance of the switching controller upon external disturbances is reported.

• 一般社団法人日本機械学会の論文

著者

• Hashimoto Shuji

  Waseda Univ.

• Hashimoto Shuji

  Waseda University

• Yap Huei

  Waseda University

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• 2A1-A09 Switching Control of Mobile Reaction Wheel Pendulum

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