1. Robotics System Lecture 5-6: Stabilizing Two Wheel Robot
By:
Nur Uddin, Ph.D

2. Introduction: Two Wheels Robot (TWR)
Two-wheeled robots (TWRs) are a statically-unstable nonlinear system.

3. Motivation
An active stabilization using a states feedback control system is applied to stabilize the TWR.
TWR operates on uncertain road profile.
Adaptive control system is applied to stabilize the TWR to over- come the uncertain disturbance.

4. TWR Model and Free Body Diagram on Longitudinal Mode

5. TWR Dynamics Newton second law for moment:
Define and rearrange the equation:

6. Model Reference Adaptive Control (MRAC)