Sensorless position and velocity estimation of two wheeled inverted pendulum mobile robot

One of the problem with complex machines is the sensor used to measure the outputs or the states of the machine. The sensors are prone to noise and add to design complexity. To overcome these problems, sensorless techniques are used as substitutes to common physical sensors. This paper presents sensorless estimation of position and velocity of a two wheeled inverted pendulum (TWIP) mobile robot, using the robot model. The model is developed using identification method, and shows acceptable estimation of both the position and velocity of the robot in meters and meter per second respectively.