抄録
When the two-wheeled inverted pendulum is accelerating or decelerating, body significantly inclines. One of the means to reduce the inclination, there is a center of gravity moving mechanism. Therefore, we focused on the vertical movement of not only the back-and-forth direction of the center of gravity. At first we modeled an inverted pendulum with a center of gravity moving mechanism of the back-and-forth direction. Then, we made a simulation of integral type optimal control. Result of the simulation, we found that the behavior of the inverted pendulum is changed by the height of the center of gravity moving mechanism. Upon receiving this, we have modeled an inverted pendulum with a center of gravity moving mechanism in the vertical direction. We carry out the simulation, and analyze the movement.
