SELF-BALANCING MOBILE BODY AND CONTROL METHOD FOR SAME

摘要

An inverted vehicle according to the present invention includes a plurality of multiplexed control systems, and performs inversion control and thereby moves by providing torque to a wheel and thereby driving the wheel by using the plurality of control systems. The control systems include a switching detection unit that detects switching to inversion control in which at least one of the plurality of control systems is disabled, and an inversion control unit that performs inversion control of the inverted vehicle while restricting at least one of a speed and a posture angle of the inverted vehicle when the switching of the inversion control is detected by the switching detection unit.