2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2009
DOI: 10.1109/aim.2009.5229842
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Tilting control based motion control on inverted pendulum robots with disturbance observer

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Cited by 4 publications
(2 citation statements)
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“…But if a robot rapidly changes its orientation for U-turn or K-turn, the revolutional moment acts on the pulley and the arms are twisted. It may result in the robot becoming unstable because it cannot correctly observe the tilt angle [16], [17]. In contrast, many of these type robots [18], [19].…”
Section: Introductionmentioning
confidence: 99%
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“…But if a robot rapidly changes its orientation for U-turn or K-turn, the revolutional moment acts on the pulley and the arms are twisted. It may result in the robot becoming unstable because it cannot correctly observe the tilt angle [16], [17]. In contrast, many of these type robots [18], [19].…”
Section: Introductionmentioning
confidence: 99%
“…One of the reason is the effect of observational noise based on the resolution of rotary encoders, which was used to detect tilt and wheel angles. To solve the problem, we have implemented an identity disturbance observer based on the Kalman filtering technique, which succeed in reducing the influence of the system and observational noises [13], [14], [15], [16], [17].…”
Section: Introductionmentioning
confidence: 99%