Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot

Abstract

A two wheeled inverted pendulum (TWIP) is an under-actuated mechanical system, which is inherently open-loop unstable with highly nonlinear dynamics. This property attracts the interest of researchers worldwide in recent years. In review, most of the researcher used either Lagrange or Newton-Euler for dynamic modeling of TWIP. Thus, this paper shows the study of the TWIP system by using Kane's method. The nonlinear dynamical equations of the TWIP system were first derived using Kane's Method. Based on the developed model, simulations study was carried out and the results show that the TWIP system is inherently open loop unstable, nonlinear system.