2P1-O06 Study of Nominal Model for Controller Design of Inverted Pendulum Type Personal Mobility(Dynamics & Design of Robot System)
Takahiro UCHIMURA, Masayuki Okugawa · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
Most researched and developed personal mobilities are the two-wheeled inverted pendulum type vehicle. Because the dynamics is an unstable system, the control system is required for the stabilization of the personal mobility. Aiming at the compensation of stabilization of the personal mobility system and the proposed suited controlle design in consideration of dynamics to change in riding process, this paper describes the selection method of a nominal model for the controller design. The simulation results demonstrated that the nominal model for personal mobility is selected the state that rode vehicle.