Nonlinear control design for a two-wheeled balancing robot

Abstract

A nonlinear control scheme is investigated for the posture control of a two-wheeled balancing robot. It largely consists of the feedforward controller to follow a well-planned trajectory satisfying the boundary conditions of initial and final state plus the state feedback controller in terms of the SDRE nonlinear optimal control. In this paper, we discuss how to formulate the nonlinear control inputs given the nonlinear dynamic model with some numerical results.