Robust posture control of a mobilewheeled pendulum moving on an inclined plane

The paper considers a specific class of wheeled mobile robots referred to as mobile wheeled pendulums (MWP). Robots pertaining to this class are composed of two wheels rotating about a central body. The main feature of the MWP pertains to the central body, which can rotate about the wheel axes. As such motion is undesirable, the problem of the stabilization of the central body in MWP is crucial. The novelty of the work presented here resides in the construction of a three-imbricated loop controller that delivers the full control strategy for the robot posture and copes with parameters uncertainties. Simulations on the performance of the controlled system are provided.