Design Considerations for Developing a Two-Wheeled Inverted Pendulum Robot Control System

Abstract

This paper is purposed to suggest some practical design considerations to build a two-wheeled inverted pendulum (TWIP) robot control system. The first issue is to identify the relationship between the primary parameters of the TWIP robot and the guaranteed stability of the time-delayed control loop. Secondly, the required data update rate and the required sensor and actuator performance are given for implementing a real-time digital control system. The final issue is concerned with improving driving performance by investigating the reliability of the inertial sensor for attitude control and the backlash problem in the transmission mechanism.