Control of a mobile inverted pendulum robot system

摘要

In this paper, the mobile inverted pednulum robot system is developed and controlled. Kinematics and dynamics are derived. Frequency responses of a gyro sensor and a tilt sesnor are anlayzed. A sensor fusion technique is used to compensate for the gyro sensor drift. Instead of using expensive sensors, a cost effective gyro sesnor and a tilt sensor are fused together by filtering to estimate angle of the pendulum. For experimental studies, circular trajectory tracking control has been performed experimentally.