Abstract
This paper describes the realization of InPeRo, an Inverted Pendulum Robot pertaining to the class of mobile wheeled pendulums (MWP), and the implementation of a nonlinear controller responsible of controlling the heading velocity of the robot and its steering rate while stabilizing its central body.
The mathematical model of the robot is formulated first followed by the equations governing the controller. Then the construction of the robot is described including the selection of components and instruments on board. The implementation of the controller equations, data acquisition and analysis, filtering, calibration, sensor fusion and other issues are addressed. Finally, experimental results are shown to validate the effectiveness of the controller.
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Nasrallah, D.S., Brisebois, S., Saad, M. (2014). Realization of an Inverted Pendulum Robot Using Nonlinear Control for Heading and Steering Velocities. In: Swiątek, J., Grzech, A., Swiątek, P., Tomczak, J. (eds) Advances in Systems Science. Advances in Intelligent Systems and Computing, vol 240. Springer, Cham. https://doi.org/10.1007/978-3-319-01857-7_12
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DOI: https://doi.org/10.1007/978-3-319-01857-7_12
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-01856-0
Online ISBN: 978-3-319-01857-7
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