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Active In SP

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Joined: Feb 2010
24-02-2010, 09:12 PM

seminar project explorer
Active In SP

Posts: 231
Joined: Feb 2011
06-03-2011, 12:17 PM

The idea of a mobile inverted pendulum robot has come up in the recent time and control system researchers all over the world are in the process of finding new ways to balance it. In this article, two-wheeled differential drive mobile robot based on the inverted pendulum model is constructed and the use of a a Kalman filter for sensor fusion is investigated. A Linear Quadratic Regulator (LQR) and a Pole-placement controller is used in the system.
several weighting matrix is used by the Linear Quadratic Regulator to calculate the control force of the system. a PID controller is implemented to control the path of the robot. an accurate estimate of the tilt angle and its derivative is obtained from the use of an indirect Kalman filter configuration combining a piezo rate gyroscope sensor and an inclinometer.

Balancing Robots

many researches and robotics enthusiasts around the world are working on the problem of balancing inverted pendulum. This applies to humanoid robots, robotic wheelchairs etc. The commercially available vehicle called SEGWAY uses five gyroscopes and a collection of other tilt sensors to keep itself upright.

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