Dynamic Modelling and Velocity Control of a Two-wheeled Inverted Pendulum Robot

Abstract

With the advancement of Industry 4.0, mobile robots are being applied to more and more tasks, in areas such as exploring unfamiliar environments, inspecting and monitoring infrastruc- ture, finding and rescuing people, or transporting and handling loads, among others. In this project we will focus on the modeling and control of two-wheeled inverted pendulum robots. Although they must be actively stabilized to prevent them from tipping over, these systems have several advantages over stable robots with more wheels: they can rotate around a point without moving, compensate external force disturbances that would tip over a conventional robot, and achieve taller and slimmer geometries while being stable. Along the project we will see how the kinematic and dynamic models for a twinbot (two-wheeled inverted pendulum robot) are obtained, we will go over the design of a control system, that, using the dynamic model, stabilizes the robot in the upright position along a real time defined trajectory, and we will end up validating the robustness of this control by applying force disturbances while the robot is trying to follow a defined trajectory