지면의 기울기 변화에 따른 도립진자의 제어

In this paper, we consider design of inverted pendulum controller attached on the top of a mobile robot. Unlike driving in plane the surface, driving in the slant surface calls for additional information and compensation. With this purpose, we measure gradient angle of wheel-drive inverted pendulum and calculate appropriate amount of compensation through PID controller to keep the inverted pendulum up right. The influence and efficiency of derived dynamics have been shown with result of experimentation performed in various situations.