Dynamic Modeling and Simulation of a Flexible Two-Wheeled Balancing Robot
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Research of Dynamic Model and Control Ling of Flexible Two-Wheel Upright Self-balance Humanoid Robot
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Adaptive fuzzy logic control of dynamic balance and motion for wheeled inverted pendulums
Fuzzy Sets and Systems
A control of two wheels driven redundant mobile manipulator using a monocular camera system
International Journal of Intelligent Systems Technologies and Applications
Robust velocity sliding mode control of mobile wheeled inverted pendulum systems
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Fuzzy logic control of a wheelchair on two wheels
MIC '08 Proceedings of the 27th IASTED International Conference on Modelling, Identification and Control
Nonlinear adaptive sliding-mode control design for two-wheeled human transportation vehicle
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Development of the two-wheeled inverted pendulum type mobile robot WV-2R for educational purposes
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Optimal braking control for UW-Car using sliding mode
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
The flexible two-wheeled self-balancing robot intelligence controlling based on Boltzmann
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Modeling and path planning of the city-climber robot part I: dynamic modeling
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Brief paper: Robust adaptive motion/force control for wheeled inverted pendulums
Automatica (Journal of IFAC)
Sliding-mode velocity control of mobile-wheeled inverted-pendulum systems
IEEE Transactions on Robotics
Intelligent backstepping control for wheeled inverted pendulum
Expert Systems with Applications: An International Journal
Adaptive Robust Self-Balancing and Steering of a Two-Wheeled Human Transportation Vehicle
Journal of Intelligent and Robotic Systems
Modelling and control of a flexible two-wheeled self-balancing mobile robot
International Journal of Systems, Control and Communications
Synthesized design of a fuzzy logic controller for an underactuated unicycle
Fuzzy Sets and Systems
A virtual prototyping platform for real-time systems with a case study for a two-wheeled robot
Proceedings of the Conference on Design, Automation and Test in Europe
Robust adaptive neural network control for wheeled inverted pendulum with input saturation
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
Modelling and simulation of double-link scenario in a two-wheeled wheelchair
Integrated Computer-Aided Engineering
Takagi-Sugeno fuzzy modeling of a two-wheeled inverted pendulum robot
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology
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In this paper, the dynamic model of a wheeled inverted pendulum (e.g., Segway, Quasimoro, and Joe) is analyzed from a controllability and feedback linearizability point of view. First, a dynamic model of this underactuated system is derived with respect to the wheel motor torques as inputs while taking the nonholonomic no-slip constraints into considerations. This model is compared with the previous models derived for similar systems. The strong accessibility condition is checked and the maximum relative degree of the system is found. Based on this result, a partial feedback linearization of the system is obtained and the internal dynamics equations are isolated. The resulting equations are then used to design two novel controllers. The first one is a two-level velocity controller for tracking vehicle orientation and heading speed set-points, while controlling the vehicle pitch (pendulum angle from the vertical) within a specified range. The second controller is also a two-level controller which stabilizes the vehicle's position to the desired point, while again keeping the pitch bounded between specified limits. Simulation results are provided to show the efficacy of the controllers using realistic data.