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Design and control of YAIP - an inverted pendulum on two wheels robot

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Author

Summary, in English

In this paper we describe the design and control of an inverted pendulum type robot on two wheels. The objective of the design is to provide a flexible platform intended for teaching and research, which provides rich opportunities for application of signal processing, control design, distributed control systems and consideration of implementation issues. In addition, a design constraint has been to use low-cost components. Issues such as selection of hardware and sensors, signal processing, modeling and control are treated. Special attention is given to the problem of obtaining high accuracy velocity estimates using analog encoder signals

Publishing year

2006

Language

English

Pages

1357-1362

Publication/Series

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • analog encoder signals
  • distributed control system
  • control design
  • signal processing
  • inverted pendulum type robot
  • YAIP
  • wheeled robot

Conference name

2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

Conference date

2006-10-04 - 2006-10-06

Conference place

Munich, Germany

Status

Published

ISBN/ISSN/Other

  • ISBN: 0-7803-9797-5