JOE : A mobile, Inverted Pendulum

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. See http://leiwww.epfl.ch/joe for a video demonstration of JOE.


Published in:
IEEE Transactions on Industrial Electronics, 49, 1, 107-114
Year:
2002
Keywords:
Laboratories:


Note: The status of this file is: EPFL only


 Record created 2005-11-18, last modified 2018-12-03

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