2015
DOI: 10.1007/s12555-014-0564-8
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Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot

Abstract: Many of the currently available dynamic models for the two-wheeled balancing mobile robot have some common mistakes, which are mainly due to misunderstanding about the coordinate systems to describe the rotating motions and a lack of rigorous comparison with former derivations. This paper investigates the modeling procedures for the 2WBMR in terms of the Lagrangian approach and Kane's method, through which an exact dynamic model is given, and we discuss how the modeling errors in the former works were induced.… Show more

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Cited by 66 publications
(36 citation statements)
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“…The determination of PID parameters is based on the reaction of the closed-loop system in the transfer function of self-balancing robots. A X variable is added first to the system, thus the closed-loop transfer function is determined by adding the proportional gain ( X ) [8], as follows The stability of a system can be seen from the location of the pole system in the field , if the poles of the system are located to the left of the field , then the system is stable. To find out the location of the poles in a system, hence we used the stability of routh.…”
Section: Simulation Design With Type 2 Of Ziegler-nichols Pid Controllermentioning
confidence: 99%
See 1 more Smart Citation
“…The determination of PID parameters is based on the reaction of the closed-loop system in the transfer function of self-balancing robots. A X variable is added first to the system, thus the closed-loop transfer function is determined by adding the proportional gain ( X ) [8], as follows The stability of a system can be seen from the location of the pole system in the field , if the poles of the system are located to the left of the field , then the system is stable. To find out the location of the poles in a system, hence we used the stability of routh.…”
Section: Simulation Design With Type 2 Of Ziegler-nichols Pid Controllermentioning
confidence: 99%
“…It is expected to be an alternative solution for people who expect to have a practical vehicle that can be used for personal transporter [4]. One of them is a self-balancing twowheeled robot [5][6][7][8].…”
Section: Introductionmentioning
confidence: 99%
“…For this paper the former approach is taken [3], deriving the overall system dynamics using the Euler-Lagrange equation in terms of j generalised coordinates and r Lagrange multipliers, defined as…”
Section: Inverse Kinematics and Dynamics Modelmentioning
confidence: 99%
“…In applying the Lagrangian modeling approach, we need to exprss the kinetic energy and potential energy of the rigid bodies as the functions of generalized coordinates [11,12]. First, the kinetic energy of the cubical robot can be written as…”
Section: Energy Calculationmentioning
confidence: 99%