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Content Provider | IEEE Xplore Digital Library |
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Author | Sho-Tsung Kao Wan-Jung Chiou Ming-Tzu Ho |
Copyright Year | 2013 |
Description | Author affiliation: Dept. of Eng. Sci., Nat. Cheng Kung Univ., Tainan, Taiwan (Sho-Tsung Kao; Wan-Jung Chiou; Ming-Tzu Ho) |
Abstract | A spherical inverted pendulum is a rod connected to a universal joint, which is attached to a horizontal movable base. The movable base is free to move on the plane acted on by a planar control force. It is a two-dimensional inverted pendulum. An omni-directional mobile robot is a special type of wheeled mobile robot that can perform translational movement along any desired path combined with any rotational movement. In this paper, we consider the problems of balancing a spherical inverted pendulum that is driven by an omni-directional mobile robot. A detailed dynamic model of the system is given for the control design and simulation study. By retaining the predominant nonlinear terms and neglecting the high-order coupling terms, the spherical inverted pendulum system model is simplified to two decoupled one-dimensional inverted pendulum systems. A stabilizing controller based on sliding mode control is designed for each decoupled system. In addition, a linear-quadratic regulator controller based on a linearized system model is also designed for performance comparison. The performance of the two control strategies is investigated through experimental studies. |
Starting Page | 760 |
Ending Page | 765 |
File Size | 315410 |
Page Count | 6 |
File Format | |
ISBN | 9781479915590 |
ISSN | 10851992 |
DOI | 10.1109/CCA.2013.6662841 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2013-08-28 |
Publisher Place | India |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Mobile robots Wheels Manifolds Dynamics Force Sliding mode control |
Content Type | Text |
Resource Type | Article |
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