倒立振子のブラインドバランス制御

抄録

If there is a large error in the parameter value of walking robot, the robot cannot keep the balance and may fall. This paper introduces a control method in the case that parameters of the control object are unknown. We employ an inverted pendulum stabilized by inertia flywheel as a simple model of two-legged walking robot. To estimate the parameters (lengths, mass) of the pendulum to be controlled, we measure the pendulum motion in a two-dimensional plane by an IMU (inertial measurement unit). The control gains of the flywheel are determined according to the estimated parameter values. The simulation experiments were conducted for different size of pendulums and the results showed that the proposed method can stabilize the pendulum even if the parameters values are not given in advance.