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

ASJC Scopus subject areas

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

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    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