Position control of mobile two wheeled inverted pendulum robot by sliding mode control

Abstract

Mobile two wheeled inverted pendulum (TWIP) robot is one type of mobile robot that have a number of advantages. Because dynamics of a TWIP is a complex nonlinear form, several studies have linearized the dynamic equation at the equilibrium point and designed a controller with linear dynamic equation. The limitation of the approach is, because of ignoring a high order term, the performance of that controller cannot be guaranteed at a point far from equilibrium. This paper discusses the modeling of TWIP systems and shows a new control method with nonlinear dynamics.