A Review of Modelling and Control of Inverted Pendulum System

Abstract

Two wheeled inverted pendulum mobile robot provides the best substitute for human-piloted vehicles in case of danger to human life but it is always a challenging task to control, stabilize the motion and complex trajectory of these vehicles, particularly in challenging environment. Every such vehicle has complex dynamics, unstable and unpredicted behaviour, and complex structure. This paper reviews the research on modelling and control of two-wheeled robots thus far – particularly the controllers for balancing a two-wheeled robot.