2011 Third International Conference on Computational Intelligence, Modelling & Simulation

Dynamic Modeling and Analysis of a Two-Wheeled Inverted Pendulum Robot

M. Muhammad, S. Buyamin, M. N. Ahmad, S.W.Nawawi
Faculty of Electrical Engineering, Universiti Teknologi Malaysia,
81310 UTM Skudai, Johor Malaysia
Email: musty_kano@yahoo.co.uk, salinda@fke.utm.my, noh@fke.utm.my, sophan@fke.utm.my

AbstractA two wheeled inverted pendulum (TWIP) is

II.

an under-actuated mechanical system, which is

inherently open-loop unstable with highly nonlinear
dynamics. This property attracts the interest of
researchers worldwide in recent years. In review, most
of the researcher used either Lagrange or Newton-Euler
for dynamic modeling of TWIP. Thus, this paper shows
the study of the TWIP V\VWHP E\XVLQJ.DQHV PHWKRG
The nonlinear dynamical equations of the TWIP system
were first GHULYHG XVLQJ .DQHV 0HWKRG Based on the
developed model, simulations study was carried out and
the results show that the TWIP system is inherently
open loop unstable, nonlinear system.

The concept of balancing a TWIP is based on an

inverted pendulum model, which is a common problem in
the field of control engineering. Being an unstable complex
nonlinear system, it has been utilized for educational and
control research purposes. In one degree of freedom (1-D)
inverted pendulum the control objective is to keep the
pendulum upright by moving the cart back and forth along a
guide rail. The TWIP is an extension of the 1-D inverted
pendulum system, in which the cart is no longer constrained
to the guide rail, but moves in its terrain while balancing the
pendulum [6].
Many works on systems similar to TWIP have been
reported in literature by different researchers. In the early
work by Yamafuji and Kawamura in 1989, a one degree of
freedom robot similar to TWIP was built. Both wheels of
the robot were driven by a single motor and the robot is
connected to the external computer by wires; hence the
robot could not move freely [7, 8]. In 1996, Ha and Yuta [8]
developed a self-contained mobile balancing robot which
navigates autonomously in a plane while keeping its balance
at a relatively high speed. The robot has two independent
driving wheels on the same axle. In 2001, Dean Kamen
invented a Segway human transporter, which is the first
personal transportation vehicle that used self-balancing
mechanism for movement and offered zero emissions [9,
10]. In 2002, Grasser et al [11] developed a scaled down
prototype of a Digital Signal Processor controlled two
wheeled vehicle (JOE) based on the inverted pendulum with
weights attached to the system to simulate a human driver.
Thereafter many systems similar to TWIP were developed
by different researches such as iBot, nBot, Legway, EMIEW
and Anybot among others.
Literature survey on TWIP modeling shows that most of
the researchers used either Newton-Euler method [12, 13,
24, 15] or Lagrange approach [2, 8, 16, 17, 18, 19, 20, 21,
22, 23] in deriving the dynamic model of the TWIP. The
disadvantage of Newton-Euler method is that, it requires
calculation of unwanted forces hence it is inefficient in
terms of computation. While the disadvantage of Lagrange
approach is that the Lagrange multiplier is solved
complicatedly hence the method has less computational
efficiency. Another method, .DQHVPHWKRGLVDQDOWHUQDWLYH
method for dynamic modeling of multi-body systems which
is based on partial velocities. The method does not require
calculation of unwanted forces or multipliers; hence it is

Keywords- Two-Wheeled Inverted Pendulum (TWIP),

.DQHVPHWKRG'\QDPLFPRGHODutonomous model

I.

INTRODUCTION

A two wheeled inverted pendulum (TWIP) also known as

balancing robot is a class of two wheeled mobile robots,
which consists of two independently driven wheels mounted
along a single axis of the intermediate body which houses
the system hardware [1]. It is an under-actuated mechanical
system, which is inherently open-loop unstable with highly
nonlinear dynamics [2]. A TWIP has advantages over other
wheeled robot configurations such as: smaller size,
mechanical simplicity, zero-radius turning and superior
stability steep inclines (by leaning forward into the incline)
[1]. It can be found in many applications such as human
transportation [3], baggage transportation [4], sports [5],
intelligent gardening, autonomous trolley and intelligent
robot to guide blind people among others.
In this paper, the dynamical equations of the TWIP are
GHULYHG XVLQJ .DQHV PHWKRG 7KH 6LPXOLQN PRGHO RI WKH
TWIP is developed based on the nonlinear dynamical
equations. Simulations are then carried out to investigate the
nonlinear behavior of the TWIP.
The rest of the paper is organized as follows: section two
consist of literature review, section three gives summary of
WKH.DQHVPRGHOLQJPHWKRG, section four gives detail of the
mathematical modeling of the TWIP, in section five the
simulations result is presented and finally section six gives
the conclusion.

978-0-7695-4562-2/11 $26.00 2011 IEEE

DOI 10.1109/CIMSim.2011.36

LITERATURE REVIEW

159

yaw angle (orientation of the robot).

xTWIP position.

more efficient than Newton-Euler method and Lagrange

approach in terms of computation [24]. ]. In this work, a
VWXG\ RI PRGHOLQJ WKH 7:,3 V\VWHP XVLQJ .DQHV PHWKRG
has been carried out.
.$1(6 METHOD

III.

Kane proposed an effective method for dynamic

modeling of multi-body systems based on partial velocities.
The method can impose the nonholonomic constraints in the
systems which can largely reduce complexity of
computation [25].
*HQHUDOO\LQ.DQHVPHWKRGWKHG\QDPLFDOHTXDWLRQVRI
motion of multi body system can be derived through the
following steps [24, 26]:
x Identify the bodies in the system and label
important point (center of mass locations and
locations of applied forces).
x Select generalized coordinates qr (r = 1, 2, ..n) and
corresponding generalized speeds ur (r = 1, 2, ....n).
Where n is the number of degrees of freedom.
x Generate expressions for the angular velocities and
angular accelerations of all the bodies in the
system, and linear velocities and linear
accelerations of the important points with respect
to the Newtonian (inertial) reference frame.
x Generate the partial velocities (linear and angular).
x Determine the active forces and torques acting on
the system.
x Determine the inertia forces of the system.
x Determine the generalized active forces.
x Determine the generalized inertia forces.
x The equations of motion are given by:

Fr  Fr*
IV.

(r

Figure 1: TWIP developed by Nawawi et.al [27]

1,2,......n)

TWO-WHEELED INVERTED PENDULUM

ROBOT MODELING

To successfully analyze the TWIP system, its dynamics

have to be described mathematically. The dynamic model
considered in this paper is based on the TWIP developed by
Nawawi et.al [27] as shown in figure 1.
The free body diagram of the TWIP is shown in figure
2. The TWIP can be described based on the following
variables and parameters:
mBmass of the main body of the TWIP.
mWmass of each wheel.
Lhalf of the distance between the wheels.
Rradius of each wheel.
ddistance between the center of the wheels axis C
and the center of gravity G.
I2the moment of inertia of the body about n2
direction.
I3the moment of inertia of the body about n3
direction.
ggravitational acceleration.
pendulum tilt angle.

Figure 2: Free body diagram of the TWIP with the system

coordinate.
160

The mathematical will be derived XVLQJ.DQHV method

using the steps mentioned in section 3 based on the
following assumptions:
x The motor inductance and friction on the armature
are neglected.
x The wheels of the robot always stay in contact with
the ground.
x There is no slip at the wheels.
x Cornering forces are neglected.

w F v Pi
(15)
(r 1,2,3) , ( pi B,W1 ,W2 )
wur
The partial angular velocities of the main body and the
wheels can be obtained using [24]:
w F Z Bi
(16)
(r 1,2,3) , ( Bi B,W1 ,W2 )
Z~rBi
wur
The forces exerted on the robot are assumed to be the
torques between the wheels and body generated by the
driving motors and the gravitational force at the center of
the main body and that at the center of the wheels [7, 29].
The forces are assumed as follows:
(17)
TW1 D1n1  D 2n 2  D 3n 3

W1

ZW

u2n 2  u3n 2

L
1
 u1  u2 n 3  u2n 2
R
R
L
1
 u1  u2 n 3  u2n 2
R
R

v B (u1  u3 d cos I )n1  u3 d sin In 2  u3 d sin In 3

W1

F W2

u1  u2 Ln1
u1  Lu2 n1

L 2
L (11)
1
1
 u1u 2  u 2 n1  u 2 n 2   u1  u 2 n 3
R
R
R
R

2
2

2
3

2
3

aW1

u1  Lu2 n1  Lu22n 3

mB gn 2

(21)
(22)

TW2 and TB are torques exerted on the two

26]:

Fr  Fr*

(27)
0
(r 1,2,3)
Based on equations (25)-(27) and the kinematic
information obtained the equations of motion of the TWIP
can be found as:
D 3  E 3   3m  m x  m d cos I I
W
B
B
R
(28)
 \ 2  I 2 mB d sin I 0

 u 2 d sin I  u2u3 d cos I n 3

D1  E1 n1  D 2  E 2 n 2  D 3  E 3 n 3

(26)
(r 1,2,3)
The dynamical equations of motion are given by [24,

The accelerations of the main body and the wheels are

[7]:
3

(20)

(25)
(r 1,2,3)
The Generalized inertia forces are given by [13]:
*
~ Bi T * ( p B B,W ,W )
Fr v~rPi RPi*  Z
i
i
1
2
r
Bi

(9)

DW

mW gn 2

The inertia torques of the main body and the wheels can
be computed using [24]:
*
(24)
TBi D Bi I  Z Bi u I Z Bi ( Bi B,W1 ,W2 )
The generalized active forces are given by [24]:
~ Bi T
( pi Bi B,W1 ,W2 )
Fr v~rPi RPi  Z
r
Bi

(8)

u  u d cos I  u  u d sin I n
 u d sin I  u d cos I n

RW2

wheels and the body, RW 1 , RW 2 and RB are forces exerted

on the two wheels and the body.
The inertia forces of the main body and the wheels can
be computed using [24]:
(23)
RPi* mPi a Pi
( pi B,W1 ,W2 )

(6)

aB

(19)

Where TW1 ,

L 2
L (10)
1
1
 u1u 2  u 2 n 1  u 2 n 2   u1  u 2 n 3
R
R
R
R

mW gn 2

(5)

DW

RW 1

RB

(18)

(4)

(7)

u2n 2  u3n 3

E1n1  E 2n 2  E3n 3

TB

The angular accelerations of the main body and the

wheels are:
F

TW2

(3)

The velocities at the center of gravity of the main body

and center of the wheels with respect to reference frame F
are [29]:
F

(14)

v~rPi

(2)
u1, 2,3 x \ I
7KHDQJXODUYHORFLWLHVRIWKHURERWVPDLQERG\DQGWKH
wheels with respect to reference frame F are [28]:
F

u1  Lu2 n1  Lu22n 3

The partial velocities of the main body and the wheels

can be obtained using [13]:

Referring to figure 2, the TWIP consist of three bodies: the

main body of the robot and the two wheels, the important
points are the centers of the two wheels and the center of
JUDYLW\RIWKHURERWVERG\G. The TWIP has three degrees
of freedom; hence n = 3 (r = 1, 2, 3).
The generalized coordinates and the corresponding
generalized speeds are:
T
(1)
q1, 2,3 >x \ I @

>

aW2

(12)
(13)

161

L
D 3  E 3   mW 3L2  1 R 2  mB d 2 sin 2 I  I 2 \
R
2

2

(29)

 m d sin I cos I \I 0

1
s

1
s

t
1
s

1
s

yaw

u^2

0.212

mB gd sin I  D 3  E 3   mB d cos I x  mB d  I 3 I

(30)
 mB d 2 sin I cos I \ 2 0
2

u^2

cos

0.564
sin

u^2

V.

cos

SIMULATION

2.885
u^2
0.564

To investigate the nonlinear characteristics of the

TWIP, simulations were carried out via Simulink. The
parameters of table 1, which are based on [27], are used for
the simulations. Based on the parameters of table 1, the
autonomous model of the TWIP can be written as:

sin

-9.81

sin
cos

sin
cos

0.564  0.212 cos I sin I \

2

x

cos 2 I  2.885
9.81sin I cos I

cos 2 I  2.885
sin I cos I
\  2
\I
sin I  0.987

dx3

-1

0.564 sin I  2
I

cos 2 I  2.885

u^2

sin
0.987

(31)
u^2

(32)

0.084 sin I cos I 2

sin I cos I  2
\ 
I
2
cos I  2.885
cos 2 I  2.885
50.154 sin I

cos 2 I  2.885

0.084

sin

cos

I 

u^2

cos
2.885

(33)

u^2
sin

cos

Table 1: TWIP parameters

Parameter
mB
mW
L
R
I2
I3
g
d

Value
15
0.42
0.20
0.106
0.63
1.12
9.81
0.212

tilt

Unit
kg
kg
M
M
kgm2
kgm2
m/s2
M

-K-

sin

1
s

1
s

Figure 3: Simulink model of the nonlinear TWIP.

1.6
1.4
1.2

Tiltangle(rad)

The Simulink model of the TWIP was developed based

on the autonomous model in equations (31)-(33) as shown
in figure 3. The simulation was carried out in the stages.
Firstly the initial tilt angle was set to 0.0001 radians.
Figure 4 and 5 shows the simulation results. From the
simulation results it can be seen that when the initial tilt
angle is positive, the pendulum falls in the positive direction
in about 2.1 seconds as shown in figure 4, the robot move
about 0.4 meters in the negative direction (opposite
direction of falling) as shown in figure 5.

1
0.8
0.6
0.4
0.2
0

0.5

1.5

2.5

Time(s)

Figure 4: TWIP tilt angle with positive initial conditions.

162

1
0.8

Orientation(rad)

0.6

Position(m)

-0.5

-1

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8

-1.5

0.5

1.5

-1

2.5

0.5

Time(s)

1.5

2.5

Time(s)

Figure 8 : TWIP orientation

Secondly the initial tilt angle was set to -0.0001 radians.

Figure 6 and 7 shows the simulation results. From the
results it can be seen that when the initial tilt angle is
negative, the pendulum falls in about 2.1 seconds in the
negative direction as shown in figure 6, the robot move
about 0.4 meters in the positive direction (opposite direction
of falling) as shown in figure 7. The orientation of the TWIP
is independent of the dynamics of the system as shown in
figure 8.

The result from the Kanes method was also compared with
the result from Lagrange method. Figure 7 and 8 shows the
simulation results. Form the result it can be seen that, the
TWIP modeled based on Kanes Method falls in about 2.1
seconds, while that modeled based on Lagrange Method
falls in about 2.4 seconds as shown in figure 8, and the
TWIP modeled based on Kanes Method moves about 0.4
meters in before fallen, while the TWIP modeled based on
Lagrange Method moves about 0.05 meters before fallen.

1.6

-0.2

1.4

-0.4

1.2

Tilt angle (rad)

Tiltangle(rad)

Figure 5: TWIP position with positive initial conditions.

-0.6
-0.8
-1

1
0.8
0.6

-1.2

0.4

-1.4

0.2

-1.6

0.5

1.5

Kane
Lagrange

2.5

0.5

1.5

2.5

Time (s)

Time(s)

Figure 9: Tilt angle from Kanes and Lagrange methods

Figure 6: TWIP tilt angle with negative initial conditions.

0.5

1.5

Kane
Lagrange

Position(m)

Position (m)

-0.5

0.5

-1

0.5

1.5

2.5

0.5

1.5

2.5

Time (s)

Time(s)

Figure 7: TWIP position with negative initial conditions.

Figure 10: Position from Kanes and Lagrange methods

163

[13] 6 < 6HR 6 + .LP 6 /HH 6 ++DQ + 6 .LP 6LPXODWLRQ RI
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[14] $1.1DVLU0$$KPDGDQG5075,VPDLO7KH&RQWURORI
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Assessment between LQR and PID-PID Control SchemHV LQ
Proceedings of World Academy of Science Engineering and
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[15] .0*RKHU027RNKLDQG1+6LGGLTXH'\QDPLF0RGHOLQJ
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[16] . 3DWKDN - )UDQFK DQG 6 . $JUDZDO 9HORFLW\ DQG SRVLWLRQ
control of a wheeled inverted pendulum by partial feedback
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3, pp. 505-513.
[17] = /L DQG - /XR $GDSWLYH 5REXVW '\QDPLF %DODQFH DQG 0RWLRQ
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on Control Systems Technology, Vol. 17, No. 1, January 2009.
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Intelligence, Robotics, and Autonomous Systems, Dec. 15 2003,
Singapore.
[19] 0.*RKHUDQG027RNKL'HYHORSPHQW0RGHOLQJDQd Control
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5RERW %DVHG RQ /45 &RPELQHG ZLWK 3,' The 2nd IEEE
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[23] 3 . : $EH\JXQDZDUGKDQD 0 'HIRRUW DQG 7 0XUDNDPL  6HOISustaining Control of Wheel Mobile Manipulator using Sliding Mode
&RQWURO The 11th IEEE International Workshop on Advanced
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[27] 6:1DZDZL3DUWLDO)HHGEDFN/LQHDUL]DWLRQ&RQWUROIRUD&ODVVRI
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[28] 3&0LWLJX\DQG75.DQH0RWLRQ9DULDEOHV/HDGLQJWR(IILFLHQW
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[29] . 7KDQMDYXU DQG 5 5DMDJRSDODQ (DVH RI '\QDPLF 0RGHOOLQJ RI
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The simulations result discussed above shows that the

result satisfies the theoretical result; hence the proposed
model is valid to some extent.
For further research a suitable controller will be design
for stabilizing the TWIP system.
VI.

CONCLUSION

The nonlinear dynamical equations of motion of TWIP

V\VWHP ZHUH GHULYHG XVLQJ .DQHV 0HWKRG DQG 6LPXOLQN
model of the system was developed based on the nonlinear
dynamical equations. Simulations were carried out to
investigate the nonlinear autonomous behavior of the TWIP
system. Simulation results show that the robot falls
immediately in the direction of the tilt angle when it is
released; hence the TWIP system is inherently unstable. The
results have also shown that the KaneV PHWKRG LV DQ
alternative method in modeling the TWIP.
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[1]

164