Segway RoboticsAn Introduction using Control Theory

• Segway robot is a complicated robotic system. It is a type of robot which balance on two wheel.

• The first Segway robotics based model was introduced in market by DEAN KAMEN with DOUG FIELD.

• Name of product: Segway PT.

• A user commands the Segway to go forward by shifting their weight forward on the platform, and backward by shifting their weight backward.

• Uses Gyroscopic sensors and fluid-based levelling sensors detect the weight shift.

Bla Bla Bla ………..

Concept behind Segway Robotics

• Segway Robotics is based on classical control theory.

• Works on discrete time system.

• The model of Segway Robot is a combination of both UNICYCLE MODEL and INVERTED PENDULUM MODEL.

Linear System

• But all the models are not linear.

• Rather most of them are non-linear in nature

Linearization

Inverted Pendulum

Unicycle

Stability

Re(l)<0

Re(l)=0

Re(l)≤0

State Feedback

Stabilization using Pole Placement

Controllability

• Then the system is Completely Controllable

• Pole placement is then possible

Segway Robot Again !

6

Therefore, System is not completely Controllable!

But here we can consider only v and w of the uniclycle part

4Now,

Therefore, System is completely Controllable!

References

Presentation by:-

SHASHANK MISHRAMAE-II

VISHAL SINGHMAE-II