Dynamic modelling and optimal control scheme of wheel inverted pendulum for mobile robot application

• Main Authors: Shamsudin, Mohamad Amir, Mamat, Rosbi, Nawawi, Sophan Wahyudi
• Format: Article
• Language: English
• Published: 2013
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/40394/1/MohamadAmirShamsudin2013_DynamicModellingandOptimalControlScheme.pdf; http://eprints.utm.my/id/eprint/40394/; http://dx.doi.org/10.5121/ijctcm.2013.3601

Unstable wheel inverted pendulum is modelled and controlled deploying Kane’s method and optimal partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted pendulum is obtained using a proper definition of the geometric context of active and inertia for...