On the stability of two-wheeled vehicle balancing passive human subjects

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

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

A two-wheeled vehicle balancing a passive inverted pendulum is analyzed based on an experimental device. The corresponding mechanical model is a wheeled double pendulum, where only the position of the lower pendulum is measured. The sampling effect of the digital control is modeled as a zero-order hold. It is shown that the stabilization of the upright position is possible by proper choice of the control parameters as function of the sampling period of the controller. The model can be applied to analyze the behavior of wheeled vehicles with passive human subjects standing on it. The results are demonstrated on small-scale experimental realization of the system.

Original languageEnglish
Pages (from-to)337-342
Number of pages6
JournalIFAC-PapersOnLine
Volume51
Issue number22
DOIs
Publication statusPublished - Jan 1 2018

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Pendulums
Sampling
Stabilization
Controllers

Keywords

  • digital control
  • stability
  • wheeled inverted pendulum

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

On the stability of two-wheeled vehicle balancing passive human subjects. / Kovacs, Balazs A.; Stépán, G.; Wang, Zaihua; Insperger, T.

In: IFAC-PapersOnLine, Vol. 51, No. 22, 01.01.2018, p. 337-342.

Research output: Contribution to journalArticle

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