In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller. | Vietnam Journal of Mechanics, VAST, Vol. 30, No. 3 (2008), pp. 158 – 166 ON MODELLING AND CONTROL DESIGN FOR SELF-BALANCED TWO-WHEEL VEHICLE Nguyen Quang Hoang Department of Applied Mechanics, Hanoi University of Technology Abstract. In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller. 1. INTRODUCTION A two-wheel vehicle with a type of inverted pendulum has a commercial name, socalled Segway, which was invented by an American named Dean Kamen. This vehicle has been investigated and designed for 10 years ago, and was introduced to public since 2001. Nowadays, thousands of such vehicles were sold in the USA and Europe. It is convenient to use this vehicle to travel within 10 km distance. These vehicles can reach a velocity of 20 km/h. Main mechanical structures of the vehicle consist of a bodywork and two wheels those two axes coincides. Two wheels are driven by two independent electric motors. Rotors are fixed with the wheels, while stators with the bodywork, or in inverse order. Power supports for the vehicle is an accumulator on the bodywork. In order to maintain a stationary motion of the vehicle – bodywork is directed above -, a controller is necessary. In addition, there is a screen to display motion states such as velocity, some bottoms to set motion parameters. In recent years, several authors have investigated this new vehicle type [2-5]. In this paper, a dynamic model of the vehicle moving on a straight line and the designing of a controller based on linearized model are presented. Based on differential equations of motion obtained by the method of substructures, a controller to ensure the stable motion of the vehicle is .
