Naoya Hatakeyama

Movement control of two-wheeled inverted pendulum robots considering robustness

We propose a high-speed robust motion control technique for inverted pendulum robots that utilizes forward and backward tilting as a control factor. An inverted pendulum is a self-regulated system simulating a childpsilas game of swaying an umbrella or a stick upwards. The controller design for pendulums has been widely been challenged since the 1970s. A two-wheeled, self-balancing electric transportation device using the inverted pendulumpsilas control principle was developed in the US. Many biped walking robots have also made use of this principle. Furthermore, the feature of space-saving of inverted pendulum robots will be highly regarded and they will contribute to our better lives. On the other hand, essentially, inverted pendulums possess better control characteristics since they do not fold up. Shimada and Hatakeyama suggested an idea that was contrary to this basic principle. Their controller was designed to brake down its balance when in motion. This was done using zero dynamics derived by partial feedback linearization, in order to control revolving and curving motion. However, this control system is a feedfoward control making use of forward and backward tilting and it is not robust. To solve this problem, we have designed a two degrees of freedom controller based on the feedfoward controller and Hinfin control technique. Finally we present the simulation and experimental results for validity.

High-Speed Motion Control of Wheeled Inverted Pendulum Robots

A high-speed motion control technique for inverted pendulum robots using unstability is introduced. Inverted pendulum is a self-regulated system that simulates the motion of a child swaying an umbrella or stick. The controller design for various pendulums was widely challenged during the 1980s. Later, the machines for human riding using this principle were developed and sold in the U.S. In addition, many biped walking robots have been developed based on this principle. Basically, inverted pendulums are automatically controlled as they do not fold up. However, this paper presents a contradicting theory. The controller of the inverted pendulum deliberately breaks down the balance while in motion. This shows that the controller is based on the unstability of the pendulum system. And when the pendulum stops, the controller regains the balance. For implementing this concept, the controller is designed using partial feedback linearization, which controls the tilt angle of the pendulum robot. At first, the horizontal position of the robot is neglected by the controller. However, the position of the pendulum successfully becomes controlled as a result. This paper presents the simulation and experimental results to establish the adequacy of the proposed method.

Movement control using zero dynamics of two-wheeled inverted pendulum robot

A high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate a game that a child sways up umbrella or stick. And the controller design for various pendulums have widely challenged since 1970s. And the machines for human riding using this principle were developed in the U.S. Many biped walking robots have made use of this principle. Inverted pendulums are basically controlled as they do not fold up. Shiamda et.al. have insisted an opposite idea against the basic principle. The controller they presented broke down the balance of it on purpose when it moved. In order implement the idea, the controller was designed using zero dynamics which was derived by partial feedback linearization that controlled the tilt angle of the robot. However, the robot can only move straightly. This paper introduces the extended motion including revolving and curve motion by using nonlinear control theory. Furthermore, it shows the simulation and experimental results for validity.