Gyro sensor drift compensation by Kalman filter to control a mobile inverted pendulum robot system

In this paper, a sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. The complimentary filter consisting of the lowpass filter for the gyro sensor and the highpass filter f...

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Bibliographic Details
Main Authors: Hyung-Jik Lee, Seul Jung
Format: Conference Proceeding
Language:English
Subjects:
complementary filter
Control systems
Costs
Filters
Frequency response
Goniometers
gyro drift
Inverted pendulum
Kalman filter
Mobile robots
Robot sensing systems
Sensor fusion
Sensor phenomena and characterization
Sensor systems
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Description
Summary:In this paper, a sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. The complimentary filter consisting of the lowpass filter for the gyro sensor and the highpass filter for the tilt sensor are used based on the frequency response characteristics of those sensors. The Kalman filter is used to estimate the angle based on filtered sensor data. Experimental studies of balancing and position control of the mobile inverted pendulum robot system are conducted to validate the proposed estimation method.
DOI:10.1109/ICIT.2009.4939502