| Author | Ratnayake, Ratnayake Mudiyanselage Dhanika Thimal |
| Note | A thesis report submitted in partial fulfillment of the requirements for the
degree of Master of Engineering in
Mechatronics
|
| Publisher | Asian Institute of Technology |
| Abstract | The inverted pendulum has been a experimental system which has been used to derive new control techniques and enhance the prevailing control techniques since 1960s. More complicated versions of this system, such as the double and triple pendulum has been evolved in order for the researchers to seek for new control techniques. The two wheeled balancing robot can be considered as the mobile version of the inverted pendulum which is limited to a cart on a rail. However, the prevailing complicated systems of the inverted pendulum mentioned above, have been also limited to a cart on a rail. This study was focused on developing a combination of the inverted pendulum and the two wheeled balancing robot where as the pendulum will be hinged freely on the top of the balancing robot. This created a system that is analogous to a mobile double inverted pendulum. A small sized two wheeled balancing robot was built and an pendulum was placed on it. The target of the system was to stabilize both the systems at their upright position, and to move the system forward and backward while maintaining the balance of the system. Both simulations and experiments were carried in order to identify the behaviours of the system and differences in modelling the system. A LQR controller was used to stabilize while position controlling the system in simulations where as an additional linear trajectory generator was added in the experiments to achieve ability. The results show that both the simulations and experiments were successful, where as few rationales are pointed for the differences occurred in between the simulations and experiments. |
| Year | 2019 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Abeykoon, A.M. Harsha S. ;Keun, Song Weon ; |
| Scholarship Donor(s) | His Majesty the King’s Scholarships (Thailand); |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2019 |