This paper presents a comprehensive study on the development and analysis of a mobile robot based on the inverted pendulum concept, a challenging system due to its inherent instability and non-linear dynamics. The primary objective of the research is to design and implement a control system that ensures the robot's balance and mobility in real-time environments. The inverted pendulum model, commonly used in robotics to test control algorithms, is employed due to its simplicity yet high sensitivity to control inputs. A dynamic model of the system is derived, and various control strategies are explored, including Proportional-Integral-Derivative (PID) control and state-space representation. The robot's mechanical structure, sensor integration, and actuation are designed to support the complex control requirements. Simulation and experimental testing are conducted to validate the effectiveness of the proposed control algorithms, highlighting their performance in maintaining balance under various conditions such as external disturbances and uneven terrain. Results demonstrate that the implemented control system successfully stabilizes the robot, achieving a high degree of accuracy and responsiveness. The article contributes to the field of mobile robotics by providing insights into the control of highly unstable systems and offer potential applications in areas such as autonomous transportation, robotics education, and dynamic balancing devices.
| Published in | Journal of Electrical and Electronic Engineering (Volume 12, Issue 5) |
| DOI | 10.11648/j.jeee.20241205.11 |
| Page(s) | 84-97 |
| Creative Commons |
This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited. |
| Copyright |
Copyright © The Author(s), 2024. Published by Science Publishing Group |
Inverted Pendulum, Mobile Robot, Control Systems, PID Control
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APA Style
Dinulescu, D. (2024). Studies and Research on an Inverted Pendulum-Type Mobile Robot. Journal of Electrical and Electronic Engineering, 12(5), 84-97. https://doi.org/10.11648/j.jeee.20241205.11
ACS Style
Dinulescu, D. Studies and Research on an Inverted Pendulum-Type Mobile Robot. J. Electr. Electron. Eng. 2024, 12(5), 84-97. doi: 10.11648/j.jeee.20241205.11
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Download@article{10.11648/j.jeee.20241205.11,
author = {Dorin-Mihail Dinulescu},
title = {Studies and Research on an Inverted Pendulum-Type Mobile Robot
},
journal = {Journal of Electrical and Electronic Engineering},
volume = {12},
number = {5},
pages = {84-97},
doi = {10.11648/j.jeee.20241205.11},
url = {https://doi.org/10.11648/j.jeee.20241205.11},
eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.jeee.20241205.11},
abstract = {This paper presents a comprehensive study on the development and analysis of a mobile robot based on the inverted pendulum concept, a challenging system due to its inherent instability and non-linear dynamics. The primary objective of the research is to design and implement a control system that ensures the robot's balance and mobility in real-time environments. The inverted pendulum model, commonly used in robotics to test control algorithms, is employed due to its simplicity yet high sensitivity to control inputs. A dynamic model of the system is derived, and various control strategies are explored, including Proportional-Integral-Derivative (PID) control and state-space representation. The robot's mechanical structure, sensor integration, and actuation are designed to support the complex control requirements. Simulation and experimental testing are conducted to validate the effectiveness of the proposed control algorithms, highlighting their performance in maintaining balance under various conditions such as external disturbances and uneven terrain. Results demonstrate that the implemented control system successfully stabilizes the robot, achieving a high degree of accuracy and responsiveness. The article contributes to the field of mobile robotics by providing insights into the control of highly unstable systems and offer potential applications in areas such as autonomous transportation, robotics education, and dynamic balancing devices.
},
year = {2024}
}
TY - JOUR T1 - Studies and Research on an Inverted Pendulum-Type Mobile Robot AU - Dorin-Mihail Dinulescu Y1 - 2024/11/21 PY - 2024 N1 - https://doi.org/10.11648/j.jeee.20241205.11 DO - 10.11648/j.jeee.20241205.11 T2 - Journal of Electrical and Electronic Engineering JF - Journal of Electrical and Electronic Engineering JO - Journal of Electrical and Electronic Engineering SP - 84 EP - 97 PB - Science Publishing Group SN - 2329-1605 UR - https://doi.org/10.11648/j.jeee.20241205.11 AB - This paper presents a comprehensive study on the development and analysis of a mobile robot based on the inverted pendulum concept, a challenging system due to its inherent instability and non-linear dynamics. The primary objective of the research is to design and implement a control system that ensures the robot's balance and mobility in real-time environments. The inverted pendulum model, commonly used in robotics to test control algorithms, is employed due to its simplicity yet high sensitivity to control inputs. A dynamic model of the system is derived, and various control strategies are explored, including Proportional-Integral-Derivative (PID) control and state-space representation. The robot's mechanical structure, sensor integration, and actuation are designed to support the complex control requirements. Simulation and experimental testing are conducted to validate the effectiveness of the proposed control algorithms, highlighting their performance in maintaining balance under various conditions such as external disturbances and uneven terrain. Results demonstrate that the implemented control system successfully stabilizes the robot, achieving a high degree of accuracy and responsiveness. The article contributes to the field of mobile robotics by providing insights into the control of highly unstable systems and offer potential applications in areas such as autonomous transportation, robotics education, and dynamic balancing devices. VL - 12 IS - 5 ER -
Mechanical Engineering Department, Polytechnic University of Milan, Milan, Italy
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