Model Based System Development on Wheeled Inverted Pendulum Robot

本研究系关于轮式倒摆机器人之发展。其特点是，推导出精确的模型，包括运动方程和框图表示的结构和行为的机器人。即提出理论化、系统化的开发方法。考虑到悬置电机转子的特点和特殊的物理约束条件，推导了运动方程。为了获得真实的物理参数，进行了系统辨识实验。介绍了基于Kinect传感器的定位技术。最后介绍了多采样率控制技术。然后，该研究得以完整和成功地进行。此外，为了提高控制性能，提出了自适应干扰观测器技术。

This study deals with the development of wheeled inverted pendulum robot. The feature is that the derivation of exact model which consists of equation of motion and block diagrams expressing the structure and behavior of the robot. It means to present the theoretical and systematic mathod of development. Derivation of the equation of motion was performed considering the characterisics of rotors of mounted electrical motors and special pysical constraints. The system identification experiment was performed in order to acqire real phisical parameters. Furthermore, the localization technique using Kinect sensor was introduced. Finally, the multirate sampling control technique was presented. Then, the study was performed totally and successfully. Additionally, adaptive disturbance observer tecunique was presented in order to improve the control performance.