TY - JFULL AU - Shiuh-Jer Huang and Su-Shean Chen and Sheam-Chyun Lin PY - 2019/4/ TI - Design and Motion Control of a Two-Wheel Inverted Pendulum Robot T2 - International Journal of Mechanical and Mechatronics Engineering SP - 193 EP - 201 VL - 13 SN - 1307-6892 UR - https://publications.waset.org/pdf/10010139 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 147, 2019 N2 - Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results. ER -