Modified Dual Hierarchical Terminal Sliding Mode Control Design for Two-Wheeled Self-Balancing Robot

Abstract

A modified dual hierarchical terminal sliding mode control (MDHTSMC) strategy is developed in this study for the control of a two-wheeled self-balancing robot (TWSBR). The control framework incorporates individually designed sliding surfaces within a structured dual-layer hierarchy, enabling explicit prediction of convergence time. To overcome the system’s underactuation characteristics, a hierarchical structure is embedded into the dual terminal sliding mode control law. Additionally, the proposed approach mitigates the chattering effect and enhances the system’s self-balancing capabilities. Numerical simulations were conducted to verify the controller’s effectiveness and to confirm the theoretical results.