JOE: A mobile, inverted pendulum

  • Grasser F
  • D'Arrigo A
  • Colombi S
 et al. 
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The Industrial Electronics Laboratory at the Swiss Federal
Institute of Technology, Lausanne, Switzerland, has built a prototype of
a revolutionary two-wheeled vehicle. Due to its configuration with two
coaxial wheels, each of which is coupled to a DC motor, the vehicle is
able to do stationary U-turns. A control system, made up of two
decoupled state-space controllers, pilots the motors so as to keep the
system in equilibrium

Author-supplied keywords

  • Digital signal processor
  • Gyroscope
  • Modeling
  • Robotics
  • State-space control

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