Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator

When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to loss traction. If severe happens between driving wheels and contact surfaces, no control techniques can guarantee performance TWIP robots in absence an extra strategy. In this paper, TWIP-compatible countermeasure against phenomena is investigated for enhancing reliability robustness motion low-frictional surfaces. To end, we propose balancing-prioritized anti-slip method based maximum transmissible torque estimation, which activated only when detected by acceleration indicator utilizing accessible data from IMU encoders. It proved that vehicles applying proposed successfully cope with low frictional surfaces while maintaining stability. Finally, comparative simulations experiments demonstrate effectiveness feasibility scheme.