Kinematic Modeling and Simulation of Inverted Pendulum for Balancing a Two-Wheeled Robot
Received Date: February 13, 2023; Published Date: February 23, 2023
Two wheeled robots are highly maneuverable and capable of handling large shifts in their center of gravity through dynamic stabilization making them more versatile than four-wheeled robots and ideal for extra-terrestrial exploration. The purpose of this paper is to develop a controller for a two wheeled robot for extra-terrestrial exploration. This work develops the controller for a two wheeled robot to achieve the desired control parameters to facilitate autonomous extra-terrestrial exploration. Two lead-lag compensators were developed utilizing analytical methods combined with iteration and simulation. The analytically developed lead-lag compensator failed to meet transient design requirements, but the compensator developed using Matlab’s Control System Designer met all desired specifications.