Speed and orientation control of a two-coaxial-wheeled inverted pendulum

The wheeled inverted pendulum (WIP), which is a conventional unstable, nonlinear, high-order, multiple-variable, strong-coupling system has received considerable attractions on how to keep it in equilibrium. However, a stationary self-balance WIP is useless from a practical point and only few researches concerning on the speed and orientation control have been done. An accurate dynamics model brings much difficulty to the analysis and controller development. Furthermore, there are more practical issues should be considered in the designing procedure. In this research, in order to reduce the difficulty in both theoretical design and engineering implementation, the disturbances was neglected and the model was linearized in a acceptable range. Finally two decoupling controllers were developed and subjected to a experimental verification. The results indicate that the designed controllers are efficient.