Derivation of Nonlinear Mathematical Model of Two-Wheeled Inverted Pendulum

被引：0
|
作者：
Costandin, Marius [1 ]
Dobra, Petru [1 ]
机构：
[1] Tech Univ Cluj Napoca, Fac Automat & Comp Sci, Cluj Napoca, Romania
来源：
2017 21ST INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2017年
关键词：
two-wheeled inverted pendulum; D'Alembert's principle; system modelling;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper begins with a useful presentation of known theoretical mechanics concepts for obtaining the equations of motion for systems of rigid bodies with and without non-holonomic constraints, using D'Alembert's principle. Then the equations of motion of a two-wheeled inverted pendulum on a flat surface with non-sliding wheels are obtained, by using the presented theory. Finally the nonlinear dynamical system is linearized and a linear state feedback control law for multi-input systems is obtained. The nonlinear system is simulated and stabilized using the linear control law.
引用
收藏
页码：94 / 99
页数：6
相关论文
共 50 条
  • [21] Dynamic Modeling of a Two-wheeled Inverted Pendulum Balancing Mobile Robot
    Kim, Sangtae
    Kwon, SangJoo
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2015, 13 (04) : 926 - 933
  • [22] Design and Visio control of Two-Wheeled Inverted Pendulum Mobile Robot
    Ben Mansour, Sabri-M
    Ghommam, Jawhar
    Naceur, Saber-M
    2016 2ND INTERNATIONAL CONFERENCE ON ADVANCED TECHNOLOGIES FOR SIGNAL AND IMAGE PROCESSING (ATSIP), 2016, : 437 - 442
  • [23] MODELING AND EXPERIMENTAL TESTING OF A TWO-WHEELED INVERTED-PENDULUM TRANSPORTER
    Castro, Arnoldo
    Singhose, William
    Potter, James
    Adams, Christopher J.
    PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 2, 2012, : 385 - 393
  • [24] Modular approach for control design of an autonomous two-wheeled inverted pendulum
    Tarcísio Déda
    Eric Fujiwara
    Ely Carneiro
    Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2018, 40
  • [25] Modular approach for control design of an autonomous two-wheeled inverted pendulum
    Deda, Tarcisio
    Fujiwara, Eric
    Carneiro, Ely
    JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING, 2018, 40 (11)
  • [26] DYNAMIC EFFECTS OF OBSTACLES ON TWO-WHEELED INVERTED-PENDULUM TRANSPORTERS
    Harber, John
    Adams, Christopher
    Castro, Arnoldo
    Singhose, William
    INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 6, 2016,
  • [27] DYNAMICS AND ADAPTIVE MOTION CONTROL OF A TWO-WHEELED INVERTED PENDULUM ROBOT
    Petrov, Plamen
    COMPTES RENDUS DE L ACADEMIE BULGARE DES SCIENCES, 2018, 71 (07): : 945 - 954
  • [28] Development of the Portable Two-Wheeled Inverted Pendulum Type Personal Vehicle
    Hata, Hiroki
    Takimoto, Takashi
    2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014), 2014, : 1610 - 1613
  • [29] Dynamic Response Characteristics of a Two-Wheeled Inverted-Pendulum Transporter
    Castro, Arnoldo
    Adams, Christopher
    Singhose, William
    2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2013, : 1532 - 1537
  • [30] Movement control of two-wheeled inverted pendulum robots considering robustness
    Shimada, Akira
    Hatakeyama, Naoya
    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, 2008, : 3230 - +
12345