Dynamic Modelling and Optimal Controlscheme of Wheel Inverted Pendulum for Mobile Robot Application

Mohamad Amir Shamsudin, Rosbi Mamat, Sophan Wahyudi Nawawi
2013 International Journal of Control Theory and Computer Modeling  
Unstable wheel inverted pendulum is modelled and controlled deploying Kane's method and optimal partial-state PID control scheme. A correct derivation of nonlinear mathematical model of a wheel inverted pendulum is obtained using a proper definition of the geometric context of active and inertia forces. Then the model is decoupled to two linear subsystems namely balancing and heading subsystems. Afterward partial-state PID controller is proposed and formulated to quadratic optimal regulation
more » ... ing method. It enables partial-state PID to be optimally tuned and guarantees a satisfactory level of states error and a realistic utilization of torque energy. Simulation and numerical analyses are carried out to analyse system's stability and to determine the performance of the proposed controller for mobile wheel inverted pendulum application.
doi:10.5121/ijctcm.2013.3601 fatcat:uxxf26qjnbfzziqfhxqou2z36y