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JRM Vol.25 No.1 pp. 262-270
doi: 10.20965/jrm.2013.p0262
(2013)

Paper:

Stabilization of an Inverted Pendulum Cart with a Balancing Mechanism by Consistent Trajectories in Acceleration Behavior

Takayuki Matsuno*1, Jian Huang*2, Toshio Fukuda*3,
and Katsunori Doi*4

*1Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama City, Okayama Prefecture 700-8530, Japan

*2Department of Control Science & Engineering, Huazhong University of Science and Technology, No.1037, Luoyu Road, Hongshan District, Wuhan, Hubei, China

*3Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan

*4Toyota Communication Systems Co., Ltd., Japan

Received:
May 1, 2011
Accepted:
December 3, 2012
Published:
February 20, 2013
Keywords:
modern control theory, personal vehicle, nonholonomic control
Abstract

New personal vehicles are required in current society because of necessity of low-carbon system. At present, most personal vehicles require a driver to have a certain level of physical ability. Low-carbon personal vehicles should, however, be made available to people with lower levels of physical ability, such as the elderly. The present paper therefore proposes an inverted pendulum cart that incorporates a balancing mechanism with actuating a seated driver. In the case of the proposed inverted pendulum cart, since the driver does not have to be able to maintain balance in order to cause the vehicle to accelerate, the proposed cart can be used by almost anyone. In addition, a control method using both input generated by desired acceleration trajectories and dynamics-canceling input is proposed. The effectiveness of the proposed control method is confirmed by simulation.

Cite this article as:
Takayuki Matsuno, Jian Huang, Toshio Fukuda, and
and Katsunori Doi, “Stabilization of an Inverted Pendulum Cart with a Balancing Mechanism by Consistent Trajectories in Acceleration Behavior,” J. Robot. Mechatron., Vol.25, No.1, pp. 262-270, 2013.
Data files:
References
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Last updated on Mar. 05, 2021