Control Strategies for Two-Wheeled Self-Balancing Robotic Systems: A Comprehensive Review

Abstract

Two-wheeled self-balancing robots (TWSBRs) are underactuated, inherently nonlinear systems that exhibit unstable dynamics. Due to their structural simplicity and rich control challenges, TWSBRs have become a standard platform for validating and benchmarking various control algorithms. This paper presents a comprehensive and structured review of control strategies applied to TWSBRs, encompassing classical linear approaches such as PID and LQR, modern nonlinear methods including sliding mode control (SMC), model predictive control (MPC), and intelligent techniques such as fuzzy logic, neural networks, and reinforcement learning. Additionally, supporting techniques such as state estimation, observer design, and filtering are discussed in the context of their importance to control implementation. The evolution of control theory is analyzed, and a detailed taxonomy is proposed to classify existing works. Notably, a comparative analysis section is included, offering practical guidelines for selecting suitable control strategies based on system complexity, computational resources, and robustness requirements. This review aims to support both academic research and real-world applications by summarizing key methodologies, identifying open challenges, and highlighting promising directions for future development.