Electro-Mechanical Model of a Two-Wheeled Vehicle Balancing a Passive Human Subject

Balazs A. Kovacs, G. Stépán, Zaihua Wang, T. Insperger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A two-wheeled vehicle balancing a passive inverted pendulum is analyzed using a small-size experimental device. The mechanical model of the vehicle and the pendulum is extended with the electrical model of the dc motors. The controlled input is the voltage applied to each dc motor and the feedback contains only the measured position of the wheels and the frame of the vehicle and the position of the pendulum is not used in the feedback loop. The sampling effect of the digital controller is modeled as a zero-order hold. It is shown that the upright position of the system can be stabilized by proper choice of the control parameters and the sampling time.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages678-683
Number of pages6
ISBN (Electronic)9781538669594
DOIs
Publication statusPublished - May 24 2019
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: Mar 18 2019Mar 20 2019

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period3/18/193/20/19

Keywords

  • digital control
  • electro-mechanical model
  • stability
  • wheeled inverted pendulum

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

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  • Cite this

    Kovacs, B. A., Stépán, G., Wang, Z., & Insperger, T. (2019). Electro-Mechanical Model of a Two-Wheeled Vehicle Balancing a Passive Human Subject. In Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (pp. 678-683). [8722919] (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2019.8722919