Title :
Low order decentralized stabilizing controller design for a mobile inverted pendulum robot
Author :
C. R. Magers;A. N. Gundes
Author_Institution :
Masimo Corporation, Irvine, CA 92618, USA
Abstract :
We propose a low order two-channel decentralized controller design for stabilizing the multi-input multi-output linearized model of a self balancing autonomous robot. The robot model is based on a form of an inverted pendulum and the robot was constructed into a mechanical system in order to implement the stabilizing controller design.
Keywords :
"Mobile robots","Linear feedback control systems","Control systems","Nonlinear dynamical systems","Nonlinear equations","Eigenvalues and eigenfunctions","Mathematical model","MIMO","Mechanical systems","Differential equations"
Conference_Titel :
American Control Conference, 2009. ACC ´09.
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
2378-5861
DOI :
10.1109/ACC.2009.5160093
