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A mobile inverted pendulum (MIP) draws attention as a next-generation energy saving vehicle especially for urban life because it is energy-efficient to transport a person and has a small footprint. It is important for the MIP to run safely on various types of roads. However, there are few studies on the MIP considering slopes or steps. We focus on a change of slope angle and aim to improve safety when the MIP runs on such a road. To achieve this goal, a simulation model of the MIP which runs on a road with a change of slope angle is constructed. This simulation model introduces constraint contact formulation to consider change of a contact point between the wheel and the ground. Motion of the MIP is analyzed when it runs up or down the road. The results of the analyses indicate differences of motion caused by running velocity and feedback gains. Based on the results, we show the existence of the feedback gain which has good controlled performance focusing on behavior of pendulum angle, acceleration of human body and running velocity, and the guideline of control system design considering running on a road with a change of slope angle.

Modeling and Motion Analysis of a Mobile Inverted Pendulum Considering a Change of Slope Angle