A new configuration of a two-wheeled double inverted pendulum-like robotic vehicle with movable payload on an inclined plane

A novel configuration of two-wheeled robotic vehicle with five degrees of freedom (DOF) is presented in this paper. The vehicle is based on double inverted pendulum system with a unique movable payload actuator to enable lifting the payload to a demanded height. A mathematical model is derived incorporating a friction model and plane inclination angle to give the vehicle the ability to manoeuvre on irregular and inclined terrains. The vehicle model is of multi-input multi-output (MIMO) type with highly nonlinear and coupled nature. A fuzzy logic control approach is developed to control and stabilise the vehicle. Simulations in Matlab Simulink showing a successful control of the system are presented and discussed in the paper.