4 ms·

Wheeled Inverted Pendulum Model

32 points by pillars 1y ago

djoldman 1y ago
Very cool. As an aside: thanks to the author for pre-rendering the latex as the page looks pretty much the same with JS on or off. Pre-render your latex! https://katex.org/ https://katex.org/
- AndrewOMartin 1y ago
  That whole page is so crisp and clean.
mhb 1y ago
World's first video of 56 transition controls for a triple inverted pendulum https://www.youtube.com/watch?v=I5GvwWKkBmg https://www.youtube.com/watch?v=I5GvwWKkBmg
- MontyCarloHall 1y ago
  Very cool. tl;dw: an inverted triple pendulum has 2^3 = 8 equilibria, since each arm of the pendulum can either be up or down (naturally, all but one equilibria are unstable), and this controller is able to make all 8*7 = 56 transitions between them. Control theory is one of those things that shouldn't possibly work, yet here we are.
Liftyee 1y ago
Neat! Useful revision of the engineering kinematics I covered a while ago.
anentropic 1y ago
So... is this a Segway? Needs an animation!
- sshine 11mo ago
  Sounds like a job for Reanimate! https://github.com/reanimate/reanimate https://github.com/reanimate/reanimate https://reanimate.github.io/ https://reanimate.github.io/
wartywhoa23 1y ago
Being absolutely no expert in control theory, I implemented a PID-controlled segway in Algodoo physics sandbox a long time ago without any linearization, simply adjusting the coefficients by eye: http://www.algodoo.com/algobox/details.php?id=156819 http://www.algodoo.com/algobox/details.php?id=156819 I wonder how much of an improvement would the linearization yield in this case, given that it only works for small angles (which I imply from "see how to linearize and discretize it for small angles" in the article), and I guess that for large angles there won't be enough wheel grip anyway if torque would suffice, even with linearized control. Well, it's a nice occasion to revisit an old project and try, then.
proee 1y ago
Is this the same control system that is used on the first style Segway by Dean Kamen, or is it different since there is a mass at the top of the pendulum?

32 points by pillars 1y ago

Very cool. As an aside: thanks to the author for pre-rendering the latex as the page looks pretty much the same with JS on or off. Pre-render your latex! https://katex.org/ https://katex.org/

AndrewOMartin 1y ago
That whole page is so crisp and clean.

mhb 1y ago

World's first video of 56 transition controls for a triple inverted pendulum https://www.youtube.com/watch?v=I5GvwWKkBmg https://www.youtube.com/watch?v=I5GvwWKkBmg

MontyCarloHall 1y ago
Very cool. tl;dw: an inverted triple pendulum has 2^3 = 8 equilibria, since each arm of the pendulum can either be up or down (naturally, all but one equilibria are unstable), and this controller is able to make all 8*7 = 56 transitions between them. Control theory is one of those things that shouldn't possibly work, yet here we are.

Liftyee 1y ago

Neat! Useful revision of the engineering kinematics I covered a while ago.

anentropic 1y ago

So... is this a Segway? Needs an animation!

sshine 11mo ago
Sounds like a job for Reanimate! https://github.com/reanimate/reanimate https://github.com/reanimate/reanimate https://reanimate.github.io/ https://reanimate.github.io/

wartywhoa23 1y ago

Being absolutely no expert in control theory, I implemented a PID-controlled segway in Algodoo physics sandbox a long time ago without any linearization, simply adjusting the coefficients by eye: http://www.algodoo.com/algobox/details.php?id=156819 http://www.algodoo.com/algobox/details.php?id=156819 I wonder how much of an improvement would the linearization yield in this case, given that it only works for small angles (which I imply from "see how to linearize and discretize it for small angles" in the article), and I guess that for large angles there won't be enough wheel grip anyway if torque would suffice, even with linearized control. Well, it's a nice occasion to revisit an old project and try, then.

proee 1y ago

Is this the same control system that is used on the first style Segway by Dean Kamen, or is it different since there is a mass at the top of the pendulum?