Movement Control of Two Wheels Balancing Robot using SMC based on Lyapunov Analysis

Abstract

Two-wheeled balancing robot is a highly nonlinear system that needs a good controller to maintain stability. The linear controller can not anticipate the disturbances such are the uncertainties parameters and hard nonlinearities. Sliding mode control (SMC) is one of the nonlinear control that is robust from disturbances. This paper proposes a way to simplify the designs of control. The movements of balancing robot are controlled with SMC strategy by decoupling the input and designed via Lyapunov analysis. The simulations are presented for evaluating the effectiveness of SMC and compared with the linear controller.