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

Takayuki Matsuno; Jian Huang; Toshio Fukuda; Katsunori Doi

doi:10.20965/jrm.2013.p0262

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JRM Vol.25 No.1 pp. 262-270

doi: 10.20965/jrm.2013.p0262

(2013)

Paper:

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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:

T. Matsuno, J. Huang, T. Fukuda, and K. 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.

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References

[1] K. Yamafuji and Q. Feng, “Study on the Postural Control of a Twin Cycle (1st Report) – Design and Simulation of a Nonlinear Control System of an Inverted Pendulum Model –,” J. of JSPE, Vol.53, No.10, pp. 1622-1625, 1987.
[2] M. Sasaki, N. Yanagihara, O.Matsumoto, and K. Komoriya, “Steering Control of the Personal Riding-type Wheeled Mobile Platform (PMP),” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3821-3826, 2005.
[3] Y. Takahashi, S. Ogawa, and S. Machida, “Step climbing using power assist wheel chair robot with inverse pendulum control,” Proc. of IEEE Int. Conf. on Robotics and Automation” pp. 1360-1365, 2000.
[4] S. Nakamura, M. Faragalli, N.Mizukami, I. Nakatani, Y. Kunii, and T. Kubota, “Wheeled robot with movable center of mass for traversing over rough terrain,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1228-1233, 2007.
[5] J. Huang, H. Wang, T. Matsuno, T. Fukuda, and K. Sekiyama, “Robust Velocity Sliding Mode Control of Mobile Wheeled Inverted Pendulum System,” The 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2983-2988, 2009.
[6] A. Shimada and N. Hatakeyama, “High Speed Movement Control making use of Zero Dynamics on Inverted Pendulum,” Proc. of The 32nd Annual Conference of the IEEE Industrial Electronics Society, pp. 4043-4048, 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Yamafuji and Q. Feng, “Study on the Postural Control of a Twin Cycle (1st Report) – Design and Simulation of a Nonlinear Control System of an Inverted Pendulum Model –,” J. of JSPE, Vol.53, No.10, pp. 1622-1625, 1987.

[2] [2] M. Sasaki, N. Yanagihara, O.Matsumoto, and K. Komoriya, “Steering Control of the Personal Riding-type Wheeled Mobile Platform (PMP),” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3821-3826, 2005.

[3] [3] Y. Takahashi, S. Ogawa, and S. Machida, “Step climbing using power assist wheel chair robot with inverse pendulum control,” Proc. of IEEE Int. Conf. on Robotics and Automation” pp. 1360-1365, 2000.

[4] [4] S. Nakamura, M. Faragalli, N.Mizukami, I. Nakatani, Y. Kunii, and T. Kubota, “Wheeled robot with movable center of mass for traversing over rough terrain,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1228-1233, 2007.

[5] [5] J. Huang, H. Wang, T. Matsuno, T. Fukuda, and K. Sekiyama, “Robust Velocity Sliding Mode Control of Mobile Wheeled Inverted Pendulum System,” The 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2983-2988, 2009.

[6] [6] A. Shimada and N. Hatakeyama, “High Speed Movement Control making use of Zero Dynamics on Inverted Pendulum,” Proc. of The 32nd Annual Conference of the IEEE Industrial Electronics Society, pp. 4043-4048, 2006.

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

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