MODELING AND PARAMETER IDENTIFICATION OF A TWO-WHEELED INVERTED PENDULUM ROBOT

Abstract

This paper presents a dynamic model and parameter identification for a two-wheeled inverted pendulum (TWIP) robot.  The work is aimed at obtaining an accurate mathematical model of the TWIP and obtaining its parameters.  The mathematical model is developed using the Euler-Lagrange method.  Then, the parameters of the system are identified using measurements and computations.  The nonlinearity and instability of the TWIP is evaluated through simulations of the model in SIMULINK.  The simulation results show that the developed model represents the actual system in terms of nonlinearity and instability. Thus, the model can be used to develop a controller for the nonlinear plant.