Control device of inverted pendulum type vehicle

A control device of an inverted pendulum type vehicle having a traveling motion unit capable of moving on a floor surface, an actuator which drives the traveling motion unit, a base body on which the traveling motion unit and the actuator are mounted, and a loading part of an object to be transported which is attached to the base body so as to be freely tiltable with respect to a vertical direction, comprising:

• a tilt angle measuring element which generates an output in accordance with an actual tilt angle of the loading part;
• a velocity command value determining element which sequentially determines a velocity command value defining a desired value of a traveling velocity of the traveling motion unit, at least using a tilt error which is an error between a measured value of the tilt angle of the loading part indicated by the output of the tilt angle measuring element and a desired tilt angle of a predetermined value, so as to bring the tilt error close to 0;
• and
• an actuator controlling element which controls the actuator so as to make an actual traveling velocity of the traveling motion unit follow a desired value of the traveling velocity defined by the velocity command value determined by the velocity command value determining element.