Inverted Pendulum Human Transporter Balance Control SystemudBased on Proportional Integral Derivative – Active Force Control

摘要

Many research for the balancing of inverted pendulumudcontrol system to develop the performance. This paperudwill simulate a Proportional Integral Derivative – ActiveudForce Control (PID-ACF) methods to swing a pendulumudattached to a cart from an initial downwards position toudan upright position and keep that condition stable andudimplemented to the segway chair human transporter. Theudcombined control between PID and AFC system is usedudto maintain the actual acceleration is affected byuddisruption of the references given, because externaluddisturbance can affect the system. For the experimentaludit will compare the performance between using audclassical control PID and PID-AFC.