Controle de um robô pêndulo invertido sobre duas rodas

Abstract

Development in robotics has advanced over the past few decades, this way, robots are increasingly present both in people’s daily lives, with models for locomotion, fun, and in the industry for improving working conditions, collaborative robots, transport of parts or access to high-risk areas for humans. Among robot models, the two-wheeled inverted pendulum presents characteristics that make it stand out, such as replenishment of parts in industry due to its smaller size compared to other models. This robot has been studied by researchers in control area for its non-linear dynamics. Many solutions presented, utilizes a linearized model of the system. This work shows a non-linear model of the robot and propose a controller that acts on this model to keep it balanced during movement. To check the proposed controller, simulations with different conditions of initial angle and destination point were made. For further validation, parametric sensitivity analysis is taken.