Models of Two-Wheeled Mobile Robots with Experimental Validation

Two wheeled mobile robots are fully autonomous and self-balancing vehicles. As these systems are nonlinear and open-loop unstable, various and complex control algorithms are needed to guarantee the dynamic system stability. One requirement for the development of a suitable controller is the availability of a reliable mathematical model. This paper treats the mathematical modeling of Two-wheeled Unstable Transporter (UnTrans). The mathematical model of UnTrans is identified using the input/output collected data after a real-time experiment and Grey Wolf Optimizer algorithm.