Robust Stability Control of Inverted Pendulum Model for Bipedal Walking Robot
This paper proposes robust control for three models of the linear inverted pendulum (one mass linear inverted pendulum model, two masses linear inverted pendulum model and three masses linear inverted pendulum model) which represents the upper, middle and lower body of a bipedal walking robot. The bipedal walking robot is built of light-weight and hard Aluminum sheets with 2 mm thickness. The minimum phase system and non-minimum phase system are studied and investigated for inverted pendulum models. The bipedal walking robot is programmed by Arduino microcontroller UNO. A MATLAB Simulink system is built to embrace the theoretical work. The results showed that one linear inverted pendulum is the worst performance, worst noise rejection and the worst set point tracking to the zero moment point. But two masses linear inverted pendulum models and three masses linear inverted pendulum model have a better performance, a better high-frequency noise rejection characteristic and better set-point tracking to the zero moment point.
Copyright (c) 2020 Al-Nahrain Journal for Engineering Sciences
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
- Each author retains the right to use the work for non-commercial purposes as well as for further research and spoken presentations.
- Each author retains the right to use the illustrations and research data in his/her future work.
- Only one offprint is provided free for each author. The authors can order offprints at the proof stage at certain rates depending on the number of additional copies required and the year of publication.
The publisher of the journal has full rights for publication of the submitted manuscripts, electronic and facsimile formats and for electronic capture, reproduction and licensing in all formats now and in perpetuity in the original and all derivative works.