Thesis Examination Committee

Prof Shaojie SHEN, ECE/HKUST (Chairperson)
Prof Zexiang LI, ECE/HKUST (Thesis Supervisor)
Prof Fu ZHANG, ECE/HKUST

Abstract

Inverted pendulum is one of the most popular electromechanical and control systems for teaching and researching. Based on the structure and principle of the traditional inverted pendulum, this thesis introduces the new design and implementation of a three dimensional cubic shape flywheel inverted pendulum which is called iCube. The iCube consists of triple suites of flywheel, motor and electronic speed controller (ESC) for attitude control. It can balance itself on its edges and corners. For developing the hardware design and software algorithm, a one dimensional flywheel inverted pendulum is designed and implemented, which is the prototype of the iCube. This thesis presents the structure design, modeling and control algorithm of the one dimensional prototype and iCube.