2026-09-19T20:52:30Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/695142022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Karl lagnemma.
Lan, Justin T
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2012-02-29T18:22:48Z
2012-02-29T18:22:48Z
2011
2011
http://hdl.handle.net/1721.1/69514
775779995
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 31).
An instrumented four-wheeled robot was constructed to investigate steering-induced tip-up and rollover of four-wheeled vehicles, and the possibility of stabilizing and driving while balanced on two wheels. Using an analogy to a cart-pole controller, an energy shaping controller was developed to drive the vehicle's roll energy to a fixed value and stabilize the vehicle in a tipped-up position. The controller was implemented on experimental hardware, which included an ARM7-based FEZ Domino microcontroller and a MicroStrain 3DM-GX2 inertial measurement unit. Data logged during experimental trials were analyzed in MATLAB to assess the stability and effectiveness of the controller. Experimental results indicate the controller is capable of driving the vehicle to the tipped-up balancing position. The addition of a steering angle sensor and tachometer are suggested to improve the effectiveness of the controller.
by Justin T. Lan.
S.B.
45 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Tip-up and stabilization of an autonomous four-wheeled vehicle
Thesis
application/pdf
Publication
unknown
unknown
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<Abstract>An instrumented four-wheeled robot was constructed to investigate steering-induced tip-up and rollover of four-wheeled vehicles, and the possibility of stabilizing and driving while balanced on two wheels. Using an analogy to a cart-pole controller, an energy shaping controller was developed to drive the vehicle's roll energy to a fixed value and stabilize the vehicle in a tipped-up position. The controller was implemented on experimental hardware, which included an ARM7-based FEZ Domino microcontroller and a MicroStrain 3DM-GX2 inertial measurement unit. Data logged during experimental trials were analyzed in MATLAB to assess the stability and effectiveness of the controller. Experimental results indicate the controller is capable of driving the vehicle to the tipped-up balancing position. The addition of a steering angle sensor and tachometer are suggested to improve the effectiveness of the controller.</Abstract>
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