Abstract
Abstract Safety is significant issue in wheeled inverted pendulum(WIP) vehicles. In this thesis, in order to enhance the stability under uncertain center of gravity, a novel control algorithm called Zero Torque Control(ZTC) is investigated. Simulation and experimental results verify that ZTC can estimate the changing center of gravity of WIP vehicle and reject external disturbances. In addition, in order to study on the anti-slip control on WIP vehicles, an on-wheel wireless slip acceleration detection unit is designed and it’s performance is experimentally validated. Simulation on an anti-slip control based on the slip acceleration measurement is conducted to demonstrade the feasibility of achieving stability and safety under tire slip. Keywords: WIP, Sensor Fusion, COG Estimation, Anti-slip Control,Wireless Sensor, Sensor Signal Processing.