Dynamic modeling and control design for a self-balancing two-wheel chair

The self-balancing two-wheel chair (SBC) is an unconventional type of personal transportation vehicle. It has unstable dynamics and therefore requires a special control to stabilize and prevent it from falling and to ensure the possibility of speed control and steering by the rider. This paper discusses the dynamic modeling and controller design for the system. The model of SBC is based on analysis of the motions of the inverted pendulum on a mobile base complemented with equations of the wheel motion and motor dynamics. The proposed control design involves a multi-loop PID control. Experimental verification and prototype implementation are discussed.