抄録
A two-wheeled inverted pendulum (WIP) inclines to keep balance in acceleration and deceleration. The purpose of this study is to improve the inclination by a movable center of gravity system (MCGS) when a WIP changes in the opposite direction movement. First, we built models of the WIP with MCGS system and WIP without MCGS system. Next, we designed the integral-type optimal servo system. According to results of drive experiment, the inclination angle and inclination angular velocity of WIP with MCGS lower then ones of WIP without MCGS. In conclusion, the MCGS shows that it is effective in an improvement of the inclination of WIP.
