Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot

Abstract

Literature review shows that, most of the linear controllers proposed for control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot are based on dynamic models that are linearized around a single operating point. Thus, this paper presents the controller design for a TWIP mobile robot based on its multiple operating point linearized model. The nonlinear dynamical equations of motion of the TWIP mobile robot were firstly obtained. The nonlinear equations were then linearized around different operating points resulting in a number of linear models with each represented a local region of the original nonlinear system. Based on the multiple operating points linearized models a state feedback control scheme was proposed using pole placement technique for balancing and tracking control of the TWIP mobile robot. The performance of the proposed controller investigated in terms of reference command tracking, parameter variation and external disturbance rejection via simulations. The simulation result shows the effectiveness of the proposed control scheme.