A robust control method of two-wheeled self-balancing robot

Abstract

The research on two-wheeled self-balancing robot has gained momentum over the last decade at research, industrial and hobby level around the world. This paper deals with the modeling of two-wheeled self-balancing robot and the design of Sliding Mode Control (SMC) for the system. The mathematical model of two-wheeled self-balancing robot system which is highly nonlinear is derived. The final model is then represented in state-space after decoupling ignorance of the rotation. A robust controller based on Sliding Mode Control is proposed to perform the robust stabilization and disturbance rejection of the system. A computer simulation study is carried out to access the performance of the proposed control law.