Design and Motion Control of a Two-Wheel Inverted Pendulum Robot
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.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.2643591Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 652
 F. Grasser, A. D’Arrigo, S. Colombi, A. C. Rufer, “JOE: a mobile, inverted pendulum,” IEEE Transactions on Industrial Electronics, Vol. 49, 2002.
 K. Pathak, J. Franch, S.K. Agrawal, “Velocity and position control of a wheeled inverted pendulum by partial feedback linearization,” IEEE Transactions on Robotics, Vol. 21, 2005.
 C. H. Chiu, and Y. F. Peng, “Design and Implementation of the self-dynamic Controller for Two-Wheel Transporter,” IEEE International Conference on Fuzzy Systems, 2006.
 T. J. Ren, T. C. Chen, and C. J. Chen, “Motion control for a two-wheeled vehicle using a self-tuning PID controller.” Control Engineering Practice, pp. 365-375, 2007.
 W. Li, H, Ding, and K, Cheng, “An Investigation on the Design and Performance Assessment of double-PID and LQR Controllers for the Inverted pendulum,” UKACC International Conference on Control, Cardiff, United Kingdom, pp.190-196, September 2012.
 A. M. Almeshal, K. M. Goher, and M. O. Tokhi, “A new configuration of a two-wheeled double inverted pendulum-like robotic vehicle with movable payload on an inclined plane, ” First International Conference on Innovative Engineering Systems (ICIES),Dec 2012.
 Fuquan Dai, Jize Li, Jinmin Peng, “Design and control of multi-DOF two wheeled inverted pendulum robot,” 11th World Congress on Intelligent Control and Automation (WCICA), July 2014.
 Abhinav Sinha, Pikesh Prasoon, Prashant Kumar Bharadwaj, ”Nonlinear autonomous control of a two-wheeled inverted pendulum mobile robot based on sliding mode,” International Conference on Computational Intelligence and Networks (CINE), Jan 2015.
 Segway of West Texas, “i2 Models,” Retrieved July 1, 2015, from http://www.segwaytexaswest.com/i2%20Models.htm.
 Segway’s P.U.M.A., Retrieved July 7, 2017, from http://www.segway.com/puma/.
 P. Sareh and M. Kovac, “Mechanized creatures,” Science, Vol. 355, No. 6332, pp. 1379.
 K. Hirai, “Current and future perspective of Honda humanoid robot,” Proc. Of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1997.
 H. J. Lee and Seul Jung, “Control of a mobile inverted pendulum robot system,” International Conference on Control, Automation and Systems, 2008.
 S. H. Jeong and Takayuki Takahashi, “Wheeled inverted pendulum type assistant robot: Inverted mobile and Sitting motion,” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1932-1937, 2007.