Control of a 2-DOF omnidirectional mobile inverted pendulum

Viet, Tuan Dinh; Doan, Phuc Thinh; Hoang, Giang; Kim, Hak Kyeong

doi:10.1007/s12206-012-0710-2

Cited by 8 publications

(4 citation statements)

References 6 publications

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“…Substituting all these equations into (14), the control actions to be applied on the mechanism depending on the passive joint variables can be obtained as follows.…”

Section: The Second-order Sliding-mode Control (Sosmc)mentioning

confidence: 99%

“…In these systems, unlike the X-Y table, the same planar motion is obtained by using wheels that can move in more than one direction. Another difference from the X-Y table systems is that the pendulum can turn around its own axis [14,15]. In the third type, robotic arms with serial configurations are used to balance a spatial pendulum [16,17].…”

Section: Introductionmentioning

confidence: 99%

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Design and control of spatial inverted pendulum with two degrees of freedom

Bayram

Kara

2020

J Braz. Soc. Mech. Sci. Eng.

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The inverted pendulum systems have inherently unstable dynamics. In order to stabilize the inverted pendulum at upright position, an actuation mechanism should generate fast-reactive motions at the pivot point of the system. This paper addressed the design and control of a spatial inverted pendulum with two degrees of freedom (DOF). The first part of the study consists of designing a novel planar two-DOF (PRRRR) actuation mechanism in order to balance the spatial inverted pendulum. The system is underactuated and has inherently extreme nonlinearity and also the restrictions on the actuators. Then, in the second part, a second-order sliding-mode and a linear quadratic Gaussian (LQG) controller have been proposed to control the pendulum within the equilibrium position. Finally the simulation results evaluated in terms of the robustness, time response and stability show that the second-order sliding-mode controller is more robust and has fast response performances in re-stabilizing the spatial inverted pendulum, while LQG controller is better in terms of keeping the system in equilibrium during the long period of time. Keywords Two degrees of freedom inverted pendulum • Spatial inverted pendulum • Sliding-mode control • Linear quadratic Gaussian * Atilla Bayram

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“…Substituting all these equations into (14), the control actions to be applied on the mechanism depending on the passive joint variables can be obtained as follows.…”

Section: The Second-order Sliding-mode Control (Sosmc)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and control of spatial inverted pendulum with two degrees of freedom

Bayram

Kara

2020

J Braz. Soc. Mech. Sci. Eng.

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“…In the following, we show how to obtain each of the elements of equation ( 7) and then how to get the reduced system (13).…”

Section: Dynamics Modellingmentioning

confidence: 99%

Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism

Soto

Campa

2015

International Journal of Advanced Robotic Systems

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This paper describes the kinematics and dynamics modelling of a mechanical system consisting of a spherical inverted pendulum whose base is mounted on a parallel planar mechanism, better known as a five-bar mechanism. The whole mechanism has four degrees of freedom, but it has only two actuators and so it is an under-actuated system. The nonlinear dynamics model of the complete system is first obtained using a non-minimal set of generalized coordinates, and then a reduced equivalent model is computed. To validate this approach, the reduced model is linearized and simulations are carried out, showing the stabilization of the system with a simple LQR controller. Experimental results on an academic prototype are also presented.

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“…The first model is a spatial inverted pendulum which was controlled by a Cartesian mechanism that can be moved linearly in x and y directions [7]. Secondly, it can be mentioned SIPs which were balanced by being placed on a mechanism that can move to more than a direction named omnidirectional inverted pendulums [8]. In the third case, SIP was balanced by using serial robotic manipulator [9].…”

Section: Introductionmentioning

confidence: 99%

Design of Spatial Inverted Pendulum System

2019

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Pendulum-based systems which are highly non-linear and unstable have become one of the most widely studied subject of control theory. The close interest of researchers on inverted pendulum problem arises from its strong representation ability with real engineering applications. This study focuses on the design and production of an experimental setup in which a spatial inverted pendulum can be balanced by means of a planar mechanism in RRRRP configuration. A mechanism with two different motion inputs (rotational and linear) that no studies were performed on before was prototyped. This system is highly unstable and shows non-linear dynamic behavior. The mechanical parts that forms the system were manufactured by a 3D printer and a CNC milling machine. At the end of study, a four-degree of freedom spatial inverted pendulum experimental setup has been established on which the control works can be carried out, by installing the electronic and electro-mechanical equipment.

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Control of a 2-DOF omnidirectional mobile inverted pendulum

Cited by 8 publications

References 6 publications

Design and control of spatial inverted pendulum with two degrees of freedom

Design and control of spatial inverted pendulum with two degrees of freedom

Modelling and Control of a Spherical Inverted Pendulum on a Five-Bar Mechanism

Design of Spatial Inverted Pendulum System

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