Dynamic modeling and controller design for a small-pendular two-wheeled robot

To solve the low speed problem of two-wheeled robot in turn path, a mechanism design method of a new two-wheeled robot which could swing at axis direction was presented in this paper. A bar was designed to control the swing of the robot. The mechanism changed the gravity center of the robot, which made the robot much easier to cope with turn path. More specifically, it means that the robot could run in the small radius surface steadily. The dynamic analysis of the addition freedom degree had done by Lagrange equation to get the dynamics equation. And a state feedback controller was designed based on the equation. A simulation of the controller was executed based on Matlab/Simulink. The simulation results prove that the design of the controller was effective for the stable control. It also indicates that the mechanical design method and motion control system of the two-wheeled robot can improve the robot's kinetic stability effectively.