Abstract
When a two-wheeled inverted pendulum (TWIP)-type personal transporter is driven on slippery or low-friction surfaces or experiences abrupt friction changes of the ground, its postural stability is difficult to maintain using conventional control schemes. Hence, in order to improve the driving performance of TWIPs in an uneven friction environment, an extra compensation technique must be established to maintain the appropriate traction force of the two driving wheels and avoid excessive wheel slips. In this paper, we give a detailed analysis on the TWIP vehicle behavior under various low-traction conditions and suggest an easy-to-apply antislip control algorithm based on the slip-ratio estimation. The simulation results demonstrate the effectiveness of the proposed control method.
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