Modelling and Control of DWR 1.0 – A Two Wheeled Mobile Robot

Mohamad Shukri Zainal Abidin, Nurhayati Baharudin, Muhd Saiful Azimi Mahmud, Muhammad Khairie Idham Abd Rahman


This paper presents modelling and control of DWR 1.0, a two wheeled mobile robot. This balancing robot is one of the applications of an inverted pendulum on a two wheel. A relatively recent offshoot of the classical inverted pendulum is the wheel inverted pendulum, popularized in contemporary culture by the Segway Personal Transporter. However, the mathematical model for a wheel inverted pendulum do not account for the full complexity of the construction of the platform. The mathematical model obtained in this work with the measured parameters is simulated using Matlab and PID control parameters are determined. Finally, PID control algorithm is implemented on the two-wheeled mobile robot to test the accuracy of the model.


Inverted pendulum; modelling; PID control; simulation; two wheeled mobile robot

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