Dynamic Model and Balance Control of Two-wheeled Robot with Non-holonomic Constraints

Two-wheeled mobile robot is known for advantages on performing better manuever in a confined space. It is a typical mobile robot with some features such as complexity, highly nonlinear, instability, multi-variable and strongly coupling. This research is aimed to design and develop the dynamic model and balance control strategy of the robot. A Gibbs-Appell equation is applied to build the dynamic model of two-wheeled robot in this paper. The virtual prototype model of the robot and the state space model with feedback are obtained. The experiments based on the simulation model and actual model are implemented. They show that the state feedback controller carried on the robot model in the posture and the speed is effective and the dynamical balance process is stable. The nonlinear dynamics model based on non-holonomic constraints and pole placement algorithm on the basis of the dynamic model are effective.