Dynamic modelling of a new configuration of two wheeled robotic machine on an inclined surface

Abstract

This paper focuses on a novel type of two wheeled robotic system. The system poses a challenging control problem in terms of combining upright balance, stability and maneuverability. The system is designed with the ability to move on irregular terrains such as frictional and inclined surfaces. The work investigates the dynamic modeling and control of the two-wheeled robotic machine moving on an inclined surface. This paper presents the dynamic modeling of the proposed system using the Lagrange approach. The model is built in Matlab Simulink environment and its controllability tested with a Proportional-integral-derivative (PID) control mechanism.