Adaptive Control of a 2-DOF Inverted Pendulum Using an OMP

Abstract

Abstract In this paper, stabilization of a 2-degrees-of-freedom (2-DOF) inverted pendulum using an omnidirectional mobile platform (OMP) is studied. The inverted pendulum is a rod that rotating around a universal joint structure with 2-DOF. The OMP consists of platform and three omnidirectional wheels that are moving on x y  plane and keeping the rod balance. The dynamic modeling of the 2-DOF inverted pendulum and the OMP are presented. From the dynamic equation, an adaptive backstepping control method is proposed to keep the rod balance with an assumption that the distance from the center of gravity of the rod to the rotary point on the OMP is unknown. Stability of the adaptive controller is proven by using Lyapunov function. Simulation and experimental results show the effectiveness of the proposed controller.