Robust Control Method Applied in Self-Balancing Two-Wheeled Robot

Abstract

Since the beginning of the new millennium, the self-balancing two-wheeled robot (SBTWR) has become more and more popular due to its responsive yet precise movement and pollution-free. This paper is devoted to investigating both the dynamics analysis and the balance control for a SBTWR which is inherently unstable. In this dissertation, we present a robust control algorithm to stabilize the unstable SBTWR. By the Lyapunov stability theory with control term, a suitable sliding surface is proposed to ensure the stability of the controlled closed-loop system in sliding mode. Then, a sliding mode controller is designed to guarantee the hitting of the sliding surface even when the system contains system uncertainties and external disturbances. A computer simulation demonstrates the feasibility of the proposed control schemes.