Adaptive Control System Design for Two-Wheeled Robot Stabilization

Abstract

A design of two-wheeled robot (TWR) stabilization system using model reference adaptive control (MRAC) method is presented. A TWR is a statically-unstable non-linear system that requires an active stabilization system to operate. The active stabilization system is a state feedback control system. MRAC is applied to design the TWR active stabilization system. MRAC is an adaptive control scheme which has an adaptation mechanism to make a plant as a control object to behave following a reference model. Performance of the designed stabilization system is demonstrated through computer simulation. The simulation results show that the designed system is able to stabilize the TWR and even when some disturbances are presented.