Robust Control Design of Wheeled Inverted Pendulum Assistant Robot

摘要

This paper examines the design concept and mo-bile control strategy of the human assistant robot I-PENTAR (inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the two-wheeled mobile robot. Different optimal control approaches are applied to a linearized model of I-PENTAR. These include linear quadratic regulator (LQR), linear quadratic Gaussian control (LQG), H2 control and H∞ control. Simulation is performed for all the approaches yielding good performance results.