Shiuh-Jer Huang and Shin-Ham Lee and Sheam-Chyun Lin
Balancing and Synchronization Control of a Two Wheel Inverted Pendulum Vehicle
1442 - 1449
2016
10
8
International Journal of Mechanical and Mechatronics Engineering
https://publications.waset.org/pdf/10005085
https://publications.waset.org/vol/116
World Academy of Science, Engineering and Technology
A two wheel inverted pendulum (TWIP) vehicle is built with two hub DC motors for motion control evaluation. Arduino Nano microprocessor is chosen as the control kernel for this electric test plant. Accelerometer and gyroscope sensors are built in to measure the tilt angle and angular velocity of the inverted pendulum vehicle. Since the TWIP has significantly hub motor dead zone and nonlinear system dynamics characteristics, the vehicle system is difficult to control by traditional model based controller. The intelligent modelfree fuzzy sliding mode controller (FSMC) was employed as the main control algorithm. Then, intelligent controllers are designed for TWIP balance control, and two wheels synchronization control purposes.
Open Science Index 116, 2016