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

Johan Åkesson; Anders Blomdell; Rolf Braun

doi:10.1109/CCA.2006.286204

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

Johan Åkesson, Anders Blomdell, Rolf Braun

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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

Original language	English
Title of host publication	2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	1357-1362
Number of pages	6
ISBN (Print)	0-7803-9797-5
DOIs	https://doi.org/10.1109/CCA.2006.286204
Publication status	Published - 2006
Event	2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control - Munich, Germany Duration: 2006 Oct 4 → 2006 Oct 6

Conference

Conference	2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
Country/Territory	Germany
City	Munich
Period	2006/10/04 → 2006/10/06

Subject classification (UKÄ)

Control Engineering

Free keywords

analog encoder signals
distributed control system
control design
signal processing
inverted pendulum type robot
YAIP
wheeled robot

Access to Document

10.1109/CCA.2006.286204

Cite this

Åkesson, J., Blomdell, A., & Braun, R. (2006). Design and control of YAIP - an inverted pendulum on two wheels 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 (pp. 1357-1362). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2006.286204

Åkesson, Johan ; Blomdell, Anders ; Braun, Rolf. / Design and control of YAIP - an inverted pendulum on two wheels robot. 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE - Institute of Electrical and Electronics Engineers Inc., 2006. pp. 1357-1362

@inproceedings{cdbd7882c015474b82b2bf9282f68f86,

title = "Design and control of YAIP - an inverted pendulum on two wheels robot",

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",

keywords = "analog encoder signals, distributed control system, control design, signal processing, inverted pendulum type robot, YAIP, wheeled robot",

author = "Johan {\AA}kesson and Anders Blomdell and Rolf Braun",

year = "2006",

doi = "10.1109/CCA.2006.286204",

language = "English",

isbn = "0-7803-9797-5",

pages = "1357--1362",

booktitle = "2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control ; Conference date: 04-10-2006 Through 06-10-2006",

}

Åkesson, J, Blomdell, A & Braun, R 2006, Design and control of YAIP - an inverted pendulum on two wheels 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. IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 1357-1362, 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, Munich, Germany, 2006/10/04. https://doi.org/10.1109/CCA.2006.286204

Design and control of YAIP - an inverted pendulum on two wheels robot. / Åkesson, Johan; Blomdell, Anders; Braun, Rolf.
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control. IEEE - Institute of Electrical and Electronics Engineers Inc., 2006. p. 1357-1362.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Design and control of YAIP - an inverted pendulum on two wheels robot

AU - Åkesson, Johan

AU - Blomdell, Anders

AU - Braun, Rolf

PY - 2006

Y1 - 2006

N2 - 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

AB - 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

KW - analog encoder signals

KW - distributed control system

KW - control design

KW - signal processing

KW - inverted pendulum type robot

KW - YAIP

KW - wheeled robot

U2 - 10.1109/CCA.2006.286204

DO - 10.1109/CCA.2006.286204

M3 - Paper in conference proceeding

SN - 0-7803-9797-5

SP - 1357

EP - 1362

BT - 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control

Y2 - 4 October 2006 through 6 October 2006

ER -

Åkesson J, Blomdell A, Braun R. Design and control of YAIP - an inverted pendulum on two wheels 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. IEEE - Institute of Electrical and Electronics Engineers Inc. 2006. p. 1357-1362 doi: 10.1109/CCA.2006.286204

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

Abstract

Conference

Subject classification (UKÄ)

Free keywords

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Cite this