Vol. 23 No. 1 (2020) Cover Image
Vol. 23 No. 1 (2020)

Published: March 31, 2020

Pages: 81-88

Articles

Robust Stability Control of Inverted Pendulum Model for Bipedal Walking Robot

Ali Fawzi Abdul Kareem 1 Ahmed Abdul Hussein Ali 1
1 Mechanical Engineering Department, University of Baghdad, Baghdad-Iraq.
History
  • Received: December 7, 2019
  • Revised: December 30, 2019
  • Accepted: January 29, 2020
  • Available Online: March 20, 2020
DOI

https://doi.org/10.29194/NJES.23010081

Abstract

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.

Keywords

References

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