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Design and control of YAIP - an inverted pendulum on two wheels robot

Åkesson, Johan LU ; Blomdell, Anders LU and Braun, Rolf LU (2006) 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control In 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control p.1357-1362
Abstract
In this paper we describe the design and control of an inverted pendulum type robot on two wheels. The objective of the design is to provide a flexible platform intended for teaching and research, which provides rich opportunities for application of signal processing, control design, distributed control systems and consideration of implementation issues. In addition, a design constraint has been to use low-cost components. Issues such as selection of hardware and sensors, signal processing, modeling and control are treated. Special attention is given to the problem of obtaining high accuracy velocity estimates using analog encoder signals
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
analog encoder signals, distributed control system, control design, signal processing, inverted pendulum type robot, YAIP, wheeled robot
in
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
external identifiers
  • WOS:000245233802048
  • Scopus:43049156082
ISBN
0-7803-9797-5
DOI
10.1109/CCA.2006.286204
language
English
LU publication?
yes
id
cdbd7882-c015-474b-82b2-bf9282f68f86 (old id 616695)
date added to LUP
2007-11-24 08:52:18
date last changed
2017-01-01 08:03:41
@inproceedings{cdbd7882-c015-474b-82b2-bf9282f68f86,
  abstract     = {In this paper we describe the design and control of an inverted pendulum type robot on two wheels. The objective of the design is to provide a flexible platform intended for teaching and research, which provides rich opportunities for application of signal processing, control design, distributed control systems and consideration of implementation issues. In addition, a design constraint has been to use low-cost components. Issues such as selection of hardware and sensors, signal processing, modeling and control are treated. Special attention is given to the problem of obtaining high accuracy velocity estimates using analog encoder signals},
  author       = {Åkesson, Johan and Blomdell, Anders and Braun, Rolf},
  booktitle    = {2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control},
  isbn         = {0-7803-9797-5},
  keyword      = {analog encoder signals,distributed control system,control design,signal processing,inverted pendulum type robot,YAIP,wheeled robot},
  language     = {eng},
  pages        = {1357--1362},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Design and control of YAIP - an inverted pendulum on two wheels robot},
  url          = {http://dx.doi.org/10.1109/CCA.2006.286204},
  year         = {2006},
}