2023
DOI: 10.3390/machines11050553
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Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator

Abstract: When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can guarantee the driving performance and stability of the TWIP robots in the absence of an extra wheel slip control strategy. In this paper, a TWIP-compatible countermeasure against the wheel slip phenomena is investig… Show more

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