METHOD FOR ESTIMATING CENTROID ANGLE, AND INVERTED-WHEEL-TYPE TRAVELING BODY CONTROLLED BY THE METHOD

摘要

PROBLEM TO BE SOLVED: To provide a method for using minimum sensors to estimate a centroid angle in both an inverted state and an auxiliary-wheel-ground state (a resultant centroid angle of an occupant or an embarkation and an inverted-wheel-type traveling body), in the inverted-wheel-type traveling body.SOLUTION: The boardable inverted-wheel-type traveling body includes: the inverted state where the auxiliary wheel inverts only using a drive wheel without contacting the ground; and the auxiliary-wheel-ground state where the auxiliary wheel contacts the ground. The method includes steps of: designing state observers on the basis of respective equations of motion between the inverted state and the auxiliary-wheel-ground state; introducing an affine term into a state equation of the state observer in the auxiliary-wheel-ground state; and using the respective state observers between the inverted state and the auxiliary-wheel-ground state to estimate a fluctuation portion and disturbance of the centroid angle in the entire inverted-wheel-type traveling body caused by the occupant or the embarkation in both of the states, and a floor reaction force in the auxiliary-wheel-ground state.