Development, Modeling and Control of a Novel Design of Two-Wheeled Machines

As far as the system of two-wheeled machine is concerned, incorporating a linear actuator to the intermediate body (IB) of two wheeled vehicles has not presented in literature before. This paper investigates development, modeling and control of a novel design of a two wheeled vehicle with additional mobility features allowing an attached payload to move vertically while maintaining the entire system balance condition. This work aims to develop and build a well designed two-wheeled vehicle with specific features. Certain mechanical issues are discussed in order to build a well designed mechanical prototype. The prototype is designed so as to be able to carry and move a payload in a vertical direction while maintaining a balance condition of the vehicle on two wheels. An approach for modeling the system to characterize its dynamic behavior is also presented. A control strategy is developed and implemented on the system in order to steer the vehicle to perform a certain wheels trajectory. Different wheel trajectory profiles are used to check the capability of the developed control scheme to tackle the control problem while maintaining the balance condition of the entire mechanism.