Impact of dynamically moving payload on two wheeled robot stability

In real life applications, two wheeled robots are considered to carry payloads of different sizes at different positions or different motion speeds along the vertical axis. Such parameters will have an impact on the robot stability and the control mechanism, hence their detailed study is essential for robust performance of the system. This paper investigates the impact of the dynamical change of the payload position on the system damping characteristics while the robot is in its balancing state.