• DocumentCode
    3632322
  • 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
  • fYear
    2009
  • Firstpage
    4233
  • Lastpage
    4234
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2009. ACC ´09.
  • ISSN
    0743-1619
  • Print_ISBN
    978-1-4244-4523-3
  • Electronic_ISBN
    2378-5861
  • Type

    conf

  • DOI
    10.1109/ACC.2009.5160093
  • Filename
    5160093
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3632322