Dynamics and transformation control of a wheeled inverted pendulum mobile robot

This study combines feedback linearization control theory and the backstepping method to design a transformation controller for a wheeled mobile robot to switch the robot between two-wheeled and four-wheeled modes. A dynamic model of the robot is obtained using the Lagrange method. A linearized external model and a nonlinear internal model are obtained through Input-output feedback linearization strategy. The resulting models are used to design two controllers. In the external model, applied linear optimal control theory, we designed a linear quadratic regulator with integral action to control the robot pose. In the internal model, an adaptive nonlinear controller with integrator based on backstepping method is proposed for robot position control. Finally the effectiveness of the proposed approach is demonstrated using the simulation results.