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Hybrid Control of Two-Wheeled Inverted Pendulum Mobile Robot

S. W. Nawawi(1*), M. N. Ahmad(2), J. H. S. Osman(3)

(1) Faculty of Electrical Engineering, UTM, Malaysia
(2) Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Malaysia
(3) Department of Mechatronics and Robotics, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Malaysia
(*) Corresponding author

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In this paper the modeling and control of two-wheel inverted pendulum mobile robot (TWIP) using feedback linearization method is discussed. The dynamic model of a TWIP mobile robot is derived based on Lagrange method. The condition of the model then has been checked for strong accessibility and maximum relative degree for the purpose of state feedback linearization controller design. Based on these result it is known that the partial feedback linearization controller can be formulated which forms as main contribution of this work. With the proposed of sub-optimal tuning algorithm, the controller parameters is tuned iteratively. This hybrid control has give an extra advantage to the controller in action to perform the tracking of TWIP orientation and heading speed, while maintaining the pitch angle within specified range. The structure of this newly proposed controller is decomposed into two level of controllers which are named low level controller (LLC) and higher level controller (HLC). LLC is used to maintain the inclination angle of the TWIP within a pre-specified allowable range while the HLC is meant for tracking the TWIP heading speed. The new HLC design is based on Lyapunov’s direct method in which the convergence of the tracking error of the heading speed is guaranteed. Also, in order to ensure the dynamic stability of the system is preserved, the dynamic of HLC is set to be slower than LLC by adapting a reconfigurable delay term in HLC design. The verification of the performance of the controller under various system conditions is done through simulation work.
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Velocity Control; Partial Feedback Linearization; Iterative Tuning; Nonlinear System

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