Dynamic modeling and control of inverted pendulum robots moving on undulating pavements

The inverted pendulum robot (IPR) system is non-linear and underactuated. On undulating pavements, the tilting angle of the surface is a function of the vehicle displacement and changing over time. In fact, the control objective of IPRs on undulating pavements is more complex and challenging than on the horizontal case. In this paper, the dynamic model of IPRs on undulating pavements is established. Then, some works about the state assignment and linearization are done to prepare for designing a linear quadratic regulator (LQR) controller. Furthermore, the effectiveness of the suggested LQR controller is verified through numerical simulation results.