Step-crossing feasibility of two-wheeled transporter: Analysis based on Takagi-Sugeno descriptor approach

Steps are frequent obstacles in the human environment. To cross a small step, the system should shift immediately its center of mass to its new equilibrium. This task is not easy to perform and does not depend only on the performance of the stabilizing controller, but it is also highly linked to the mechanical structure of the system. This paper presents a novel approach for designing a two wheeled mobile robot (TWMR) able to be stabilized during the crossing step. The TWMR is modeled as a double inverted pendulum and then set in the quasi-LPV formulation, through the so-called TS fuzzy model. The aim is to analyse the crossing step feasibility by identifying the physical limitations causing the control failure.