Model Based System Development on Wheeled Inverted Pendulum Robot

本课题研究的是轮式倒立摆机器人的研制。其特点是精确模型的推导，该模型由运动方程和表示机器人结构和行为的框图组成。就是提出一种理论性、系统性的发展方法。考虑到安装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。此外，还介绍了基于Kinect传感器的定位技术。最后介绍了多速率采样控制技术。随后，本研究全面而成功地进行了。此外，为了改善控制性能，还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.