Control and Fault Diagnosis of an Auto-balancing Two-wheeled Cart

In this book we present a pilot control algorithm which converts two joysticks' commands into two torque directives for movement. This technique allows the user to operate the ABTWC linearly for both motion and orientation control via a joystick. Since a human being is involved in the operation of an ABTWC the rider faces the danger of being injured in a fall if any system failure occurs. Therefore the rider should be warned immediately when any system failure develops ensuring that proper action can be taken to avoid a dangerous accident. A model-based fault-detection filter is designed to detect sensor faults. This book employs a PI observer to detect abnormal information in an ABTWC caused by actuator faults and steering load- torques. In order to promptly alert the rider for safety purposes in the event of a malfunction the decision-making process to identify a critical failure is investigated. A statistical threshold that has the benefits of improving decision-making reliability is investigated for diagnosing a possible abnormal operation and/or a serious system malfunction.