Lyapunov-based control system design of two-wheeled robot

Abstract

A Lyapunov-based control system design of a twowheeled robot is presented. A two-wheeled robot (TWR) is a statically unstable system such that a control system is required to stabilize it. In order to get dynamics equations of the robot which will be applied in the control system design, modeling the robot is done through analyzing free body diagram and applying the Newton's second law. The modeling results in non-linear dynamics equations. Lyapunov-based control method is applied in the control system design of the TWR. It results in a global asymptotic stability (GAS) as proven mathematically. The GAS makes the robot's closed loop system is stable for the whole operating area. Performance of the designed control system for stabilizing the robot is evaluated through computer simulations.