Modelling and Stability Analysis of a TWMM Using Kalman Filter and PID Controller

Highly unstable and nonlinearity nature of inverted pendulum system has drawn the interest of many researchers in past few decades. This paper presents the 3D solid modelling and mathematical representation of a two wheeled self-balancing mobile manipulator robot for attaining dynamic stability. Unlike other multi-wheel robots, this intelligent robot has very smaller foot prints which helps to rove in a narrow gap and can also spin on the spot. But as it is statically unstable it is quite challenging task to stabilize the robot's body posture as well as to control its trajectory during navigation. Hence the dynamic system modelling of the two wheeled mobile manipulator is established through a linear electrical model of the DC motor and inverted cart model by state space representation. During motion, data acquisition relating to the angular tilt is obtained from an IMU sensor and the sensory noise is minimised by the implementation of Kalman filter. Finally, a PID controller is implemented which regulates the position and orientation of the robot for attaining dynamic stability.