Posture control of inverted pendulum cart with balancing mechanism using full-order state observer

Yuji Hashimoto, Yuki Otsuki, Takayuki Matsuno, Akira Yanou, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A lot of researches on inverted pendulum cart are conducted in recent years. And it attracts as a personal vehicle that realizes energy saving for many practical applications. However, because most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive. Therefore, an inverted pendulum cart with a sliding mechanism for posture control that could be ridden by anyone has been developed. In this paper, we propose that inverted pendulum cart runs keeping posture perpendicularly. First, algorithm to estimate the lean angle, that is calculated based on the center of gravity of the cart, using the full-order state observer is proposed. Secondly, algorithm to keep the posture of cart perpendicular against the change of the center of gravity is proposed. Then, desired position of slider is calculated based on the estimated lean angle. Finally, the effectiveness of algorithm is confirmed through a simulation.

Original languageEnglish
Title of host publication2014 IEEE/SICE International Symposium on System Integration, SII 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages398-403
Number of pages6
ISBN (Electronic)9781479969449
DOIs
Publication statusPublished - Jan 30 2014
Event7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
Duration: Dec 13 2014Dec 15 2014

Other

Other7th IEEE/SICE International Symposium on System Integration, SII 2014
CountryJapan
CityTokyo
Period12/13/1412/15/14

Fingerprint

Pendulums
Gravitation
Energy conservation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Information Systems

Cite this

Hashimoto, Y., Otsuki, Y., Matsuno, T., Yanou, A., & Minami, M. (2014). Posture control of inverted pendulum cart with balancing mechanism using full-order state observer. In 2014 IEEE/SICE International Symposium on System Integration, SII 2014 (pp. 398-403). [7028071] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2014.7028071

Posture control of inverted pendulum cart with balancing mechanism using full-order state observer. / Hashimoto, Yuji; Otsuki, Yuki; Matsuno, Takayuki; Yanou, Akira; Minami, Mamoru.

2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 398-403 7028071.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hashimoto, Y, Otsuki, Y, Matsuno, T, Yanou, A & Minami, M 2014, Posture control of inverted pendulum cart with balancing mechanism using full-order state observer. in 2014 IEEE/SICE International Symposium on System Integration, SII 2014., 7028071, Institute of Electrical and Electronics Engineers Inc., pp. 398-403, 7th IEEE/SICE International Symposium on System Integration, SII 2014, Tokyo, Japan, 12/13/14. https://doi.org/10.1109/SII.2014.7028071
Hashimoto Y, Otsuki Y, Matsuno T, Yanou A, Minami M. Posture control of inverted pendulum cart with balancing mechanism using full-order state observer. In 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 398-403. 7028071 https://doi.org/10.1109/SII.2014.7028071
Hashimoto, Yuji ; Otsuki, Yuki ; Matsuno, Takayuki ; Yanou, Akira ; Minami, Mamoru. / Posture control of inverted pendulum cart with balancing mechanism using full-order state observer. 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 398-403
@inproceedings{e5e9cf5bdd8247f395235475c4d3b746,
title = "Posture control of inverted pendulum cart with balancing mechanism using full-order state observer",
abstract = "A lot of researches on inverted pendulum cart are conducted in recent years. And it attracts as a personal vehicle that realizes energy saving for many practical applications. However, because most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive. Therefore, an inverted pendulum cart with a sliding mechanism for posture control that could be ridden by anyone has been developed. In this paper, we propose that inverted pendulum cart runs keeping posture perpendicularly. First, algorithm to estimate the lean angle, that is calculated based on the center of gravity of the cart, using the full-order state observer is proposed. Secondly, algorithm to keep the posture of cart perpendicular against the change of the center of gravity is proposed. Then, desired position of slider is calculated based on the estimated lean angle. Finally, the effectiveness of algorithm is confirmed through a simulation.",
author = "Yuji Hashimoto and Yuki Otsuki and Takayuki Matsuno and Akira Yanou and Mamoru Minami",
year = "2014",
month = "1",
day = "30",
doi = "10.1109/SII.2014.7028071",
language = "English",
pages = "398--403",
booktitle = "2014 IEEE/SICE International Symposium on System Integration, SII 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Posture control of inverted pendulum cart with balancing mechanism using full-order state observer

AU - Hashimoto, Yuji

AU - Otsuki, Yuki

AU - Matsuno, Takayuki

AU - Yanou, Akira

AU - Minami, Mamoru

PY - 2014/1/30

Y1 - 2014/1/30

N2 - A lot of researches on inverted pendulum cart are conducted in recent years. And it attracts as a personal vehicle that realizes energy saving for many practical applications. However, because most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive. Therefore, an inverted pendulum cart with a sliding mechanism for posture control that could be ridden by anyone has been developed. In this paper, we propose that inverted pendulum cart runs keeping posture perpendicularly. First, algorithm to estimate the lean angle, that is calculated based on the center of gravity of the cart, using the full-order state observer is proposed. Secondly, algorithm to keep the posture of cart perpendicular against the change of the center of gravity is proposed. Then, desired position of slider is calculated based on the estimated lean angle. Finally, the effectiveness of algorithm is confirmed through a simulation.

AB - A lot of researches on inverted pendulum cart are conducted in recent years. And it attracts as a personal vehicle that realizes energy saving for many practical applications. However, because most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive. Therefore, an inverted pendulum cart with a sliding mechanism for posture control that could be ridden by anyone has been developed. In this paper, we propose that inverted pendulum cart runs keeping posture perpendicularly. First, algorithm to estimate the lean angle, that is calculated based on the center of gravity of the cart, using the full-order state observer is proposed. Secondly, algorithm to keep the posture of cart perpendicular against the change of the center of gravity is proposed. Then, desired position of slider is calculated based on the estimated lean angle. Finally, the effectiveness of algorithm is confirmed through a simulation.

UR - http://www.scopus.com/inward/record.url?scp=84988295469&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84988295469&partnerID=8YFLogxK

U2 - 10.1109/SII.2014.7028071

DO - 10.1109/SII.2014.7028071

M3 - Conference contribution

SP - 398

EP - 403

BT - 2014 IEEE/SICE International Symposium on System Integration, SII 2014

PB - Institute of Electrical and Electronics Engineers Inc.

ER -