loading
Optimal PIλDμ Controller Design for Two Wheeled Inverted Pendulum
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Fractional order controllers have a growing popularity in last years and they give more flexibility to researchers for designing a controller. In this study, a fractional order PID controller is designed for position control of a two wheeled...

Gyrostabilized two wheeled inverted pendulum robot
2015 Edition, October 1, 2015 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

The increase in air pollution has motivated the design of many electrical transportation systems. In this paper, a "two wheeled inverted pendulum" personal transporter is considered. This system is inherently unstable and requires precise torque control of the...

Two-Wheel Inverted Pendulum Real Time Control
2016 Edition, July 1, 2016 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

A two-wheel inverted pendulum (TWIP) system is implemented based on a position and angle decoupled intelligent backstepping control system in this work. The decoupled method provides a simple way to achieve asymptotic stability control for a fourth-order nonlinear...

The development and control of a two-wheeled inverted pendulum
2017 Edition, September 1, 2017 - The Society of Instrument and Control Engineers - SICE

This paper presents the modeling and control of a nonlinear two-wheeled inverted pendulum (TWIP) system. We derive the transfer function and design robust controllers for the TWIP system. The designed controllers are implemented on...

Development of a Two-Wheeled Inverted Pendulum Mobile Robot
2007 Edition, December 1, 2007 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The...

Two-wheeled inverted pendulum path planning: An experimental validation
2016 Edition, October 1, 2016 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper presents experimental results of a two-wheeled inverted pendulum path planning. The model of the robot, which has six identified variables, is linearized by least squares estimation. A Linear-quadratic Regulator is designed to maintain the robot...

Intelligent PID control for two-wheeled inverted pendulums
2016 Edition, July 1, 2016 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

The purpose of this paper is to investigate the usage of the model-free Intelligent-PID method on two-wheeled inverted pendulums. The simulation result shows that the proposed I-PID controller is able to achieve the tracking requirement.

Controller design of a two-wheeled inverted pendulum mobile robot
2008 Edition, August 1, 2008 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

The differential driven two-wheeled inverted pendulum mobile robot has advantage of high maneuverability, which can maintain the balance on slopes and rough terrain and can pivot around a the central axis of its body in narrow spaces. It can be used to carry human beings...

Derivation of nonlinear mathematical model of two-wheeled inverted pendulum
2017 Edition, October 1, 2017 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper begins with a useful presentation of known theoretical mechanics concepts for obtaining the equations of motion for systems of rigid bodies with and without non-holonomic constraints, using D'Alembert's principle. Then the equations of motion of a two-wheeled...

Dynamic response characteristics of a two-wheeled inverted-pendulum transporter
2013 Edition, December 1, 2013 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Two-wheeled inverted pendulums can be used as personal transporters. Their maneuverability and small footprint give them desirable properties for this application. However, they are intrinsically unstable and their dynamic response can be significantly different...

Advertisement