Title :
Gyro sensor drift compensation by Kalman filter to control a mobile inverted pendulum robot system
Author :
Lee, Hyung-Jik ; Jung, Seul
Author_Institution :
Mechatron. Eng. Dept., Chungnam Nat. Univ., Chungnam
Abstract :
In this paper, a sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. The complimentary filter consisting of the lowpass filter for the gyro sensor and the highpass filter for the tilt sensor are used based on the frequency response characteristics of those sensors. The Kalman filter is used to estimate the angle based on filtered sensor data. Experimental studies of balancing and position control of the mobile inverted pendulum robot system are conducted to validate the proposed estimation method.
Keywords :
Kalman filters; compensation; frequency response; high-pass filters; low-pass filters; matrix algebra; mobile robots; nonlinear systems; pendulums; position control; sensor fusion; Kalman filter; balancing control; estimation method; frequency response; gyro sensor drift compensation; highpass filter; lowpass filter; mobile inverted pendulum robot system; position control; sensor fusion technique; tilt sensor; Control systems; Costs; Filters; Frequency response; Goniometers; Mobile robots; Robot sensing systems; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Inverted pendulum; Kalman filter; complementary filter; gyro drift;
Conference_Titel :
Industrial Technology, 2009. ICIT 2009. IEEE International Conference on
Conference_Location :
Gippsland, VIC
Print_ISBN :
978-1-4244-3506-7
Electronic_ISBN :
978-1-4244-3507-4
DOI :
10.1109/ICIT.2009.4939502
