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<p>This paper discusses the potential benefit the use of propellers can provide in terms of balance performance on a flat ground operation of a wheeled inverted pendulum robot. The balance performance is quantify by looking at the response of the robot to a push disturbance. Model Predictive Control (MPC) and Proportional Integrator Derivative (PID) linear corrector use are analyzed in Python simulation. Since the proposed PID-based control framework demonstrated favorable simulation results and offered simplicity of implementation, it was integrated into the real robot, where its effectiveness was confirmed.</p>

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Benefit of propellers use against push disturbance for a half-drone wheeled inverted pendulum Prototype 2

  • 期刊论文

  • 发表日期：

    2026年3月25日

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  • Hector Gautier,
  • Shoichi Maeyama

摘要

This paper discusses the potential benefit the use of propellers can provide in terms of balance performance on a flat ground operation of a wheeled inverted pendulum robot. The balance performance is quantify by looking at the response of the robot to a push disturbance. Model Predictive Control (MPC) and Proportional Integrator Derivative (PID) linear corrector use are analyzed in Python simulation. Since the proposed PID-based control framework demonstrated favorable simulation results and offered simplicity of implementation, it was integrated into the real robot, where its effectiveness was confirmed.