A novel configuration of two-wheeled self-balancing robot

Abstract

A novel design of the two-wheeled self-balancing robot (TWSR) was presented in this research. The robot was called two-wheeled self-balancing vehicle-pendulum system (TWSVPS). Compared with TWSR, the TWSVPS has a single pendulum (SP), which was passively jointed to the robot body through the O1 axis. The difficulty and complexity of control and modelling were increased due to the additional degree of freedom (DOF) which was offered by the SP rotated around the O1 axis. To simplify the analysis, the TWSVPS can be considered to be the mobile double inverted pendulum. Lagrangian dynamic formulation is used to derive the system dynamics due to its relative simplicity. The parallel double fuzzy controller based on information fusion technology was designed and simulated in MATLAB. The results show that the method is feasible and TWSVPS has excellent moving stability. The new developed configuration is of great importance in various applications including self-balance robots, wheelchairs on two wheels, stability analysis of multi links system etc.

Keywords

• double inverted pendulum
• fuzzy optimal control
• information fusion
• Lagrangian formulation
• two wheeled self-balancing vehicle-pendulum system