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

Agouri, S. A.; Tokhi, Osman; Almeshal, Abdullah M.; Sayidmarie, O. K.; Goher, Khaled

doi:10.1109/mmar.2012.6347899

Cited by 3 publications

(1 citation statement)

References 5 publications

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“…The system is a novel two-wheeled vehicle with an extendable intermediate body [13][14]. The two-wheeled robotic vehicle considered in this work comprises a rod on an axle incorporating two wheels as described in Figure 1 and Figure 2.…”

Section: System Descriptionmentioning

confidence: 99%

Modelling and Control of Two-Wheeled Vehicle with Extendable Intermediate Body on an Inclined Surface

Agouri¹,

Tokhi²,

Almeshal³

et al. 2013

Artificial Intelligence and Applications / 794: Modelling, Identification and Control / 795: Parallel and Distributed Computing

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This paper addresses the modeling and simulation of a novel two-wheeled vehicle with an extendable intermediate body on an inclined surface. The vehicle design offers an additional feature to the conventional inverted pendulum on two wheels. The intermediate body of the vehicle is composed of two co-axial parts connected by a linear actuator and with a payload attached at the end of the upper part. The linear actuator allows the payload to move up and down along the IB of the vehicle. Lagrangian modeling is used to derive and present the dynamic model of the vehicle. The developed model is a multi-input multi-output (MIMO) type with highly nonlinear and coupled dynamics. A control strategy is developed and implemented in Matlab Simulink [1]. Simulations and results showing successful control of the systems are presented in the paper.

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Section: System Descriptionmentioning

confidence: 99%