VELOCITY CONTROL FOR A MULTI-DOF TWO-WHEEL INVERTED PENDULUM ROBOT

Two-wheel inverted pendulum (TWIP) robots attract public attention as environmentally-friendly products for personal transportation in recent years. This paper presents a multi DOF TWIP(MD-TWIP) robot to balance its structure as well as sliding and swinging mechanisms. To fulfill the trajectory planning task, we proposed a robust controller based on the sliding mode theory for equilibrium control. In addition, a velocity control strategy is also introduced based on the T-S fuzzy controller to achieved good results in robot motion. Results are verified in ADAMS and MATLAB platforms simultaneously. Furthermore, the proposed control strategy is implemented on a practical self-designed physical TWIP robot model.