Studies and Research on an Inverted Pendulum-Type Mobile Robot

Dorin-Mihail Dinulescu

doi:doi:10.11648/j.jeee.20241205.11

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Studies and Research on an Inverted Pendulum-Type Mobile Robot

Dorin-Mihail Dinulescu^*

Published in Journal of Electrical and Electronic Engineering (Volume 12, Issue 5)

Received: 23 October 2024 Accepted: 13 November 2024 Published: 21 November 2024

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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.

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

Keywords

Inverted Pendulum, Mobile Robot, Control Systems, PID Control

References

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[3]	Bekte, M., Gurvits, L. Mobile Robot Localization Using Landmark. IEEE Trans. Robot. Autom., 1997.
[4]	Raj, R., Kos, A. A Comprehensive Study of Mobile Robot: History, Developments, Applications, and Future Research Perspectives. July 2022. Available from: https://www.researchgate.net/deref/https%3A%2F%2Fdoi.org%2F10.3390%2Fapp12146951 (accessed 28 November 2023).
[5]	Everett, H. R. Sensors for Mobile Robots. 15 July 1995. Chapter 1: p. 3. https://doi.org/10.1201/9781439863480 (accessed 28 November 2023).
[6]	Borenstein, J. Real-time Obstacle Avoidance for Fast Mobile Robots. IEEE Trans. Syst. Man Cybern., 1989.
[7]	Asafa, T. B. et al. (2018) Development of a vacuum cleaner robot, Alexandria Engineering Journal, 57(4), pp. 2911–2920. https://doi.org/10.1016/j.aej.2018.07.005.Jkjhk
[8]	Siregar, B., Hutagaol, B. M. and Salim Sitompul, O. (2020) Smartphone-controllable lawn mower robot, 2020 International Conference on ICT for Smart Society (ICISS) [Preprint]. https://doi.org/10.1109/iciss50791.2020.9307574Jyjyjk
[9]	Yuan Fu-cai et al. (2011) Design of cleaning robot for swimming pools, MSIE 2011 [Preprint]. https://doi.org/10.1109/msie.2011.5707629Kukuk
[10]	Tian, Z. and Shi, W. (2022) Design and implement an enhanced simulator for Autonomous Delivery Robot, 2022 Fifth International Conference on Connected and Autonomous Driving (MetroCAD) [Preprint]. https://doi.org/10.1109/metrocad56305.2022.00009Jmhmu
[11]	Klemm, V. et al. (2019) ‘Ascento: A two-wheeled jumping robot’, 2019 International Conference on Robotics and Automation (ICRA) [Preprint]. https://doi.org/10.1109/icra.2019.8793792
[12]	Ahmed, A. A. and Saleh Alshandoli, A. F. (2020) On replacing a PID controller with Neural Network Controller for Segway, 2020 International Conference on Electrical Engineering (ICEE) [Preprint]. https://doi.org/10.1109/icee49691.2020.9249811
[13]	Vahid Alizadeh, H. and Mahjoob, M. J. (2011) Quadratic damping model for a spherical mobile robot moving on the free surface of the water, 2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE) [Preprint]. https://doi.org/10.1109/rose.2011.6058541
[14]	Mukherjee, R., Minor, M. A. and Pukrushpan, J. T. (no date) Simple Motion Planning Strategies for SPHEROBOT: A Spherical Mobile Robot, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) [Preprint]. https://doi.org/10.1109/cdc.1999.831235
[15]	S. L. Podvalny and E. M. Vasiljev, Modeling of Human-Robot Physical Interaction for Case of Mobile Self-Balanced Robot, 2019 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM), Sochi, Russia, 2019, pp. 1-5, https://doi.org/10.1109/ICIEAM.2019.8742942

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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

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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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AMA 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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@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}
}

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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
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EP  - 97
PB  - Science Publishing Group
SN  - 2329-1605
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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  -

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Author Information

Dorin-Mihail Dinulescu

Mechanical Engineering Department, Polytechnic University of Milan, Milan, Italy

Contact Email

http://orcid.org/0009-0003-7971-8575

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Plain Text BibTeX RIS

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

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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

Copy | Download

AMA 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

Copy | 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}
}

Copy | Download

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  -

Copy | Download