Balancing Control of Two Wheeled Mobile Robot Based on Decoupling Controller

摘要

Nowadays, Two Wheeled Inverted Pendulum Mobile Robots (TWIPMR) are being used widely in many different applications. It’s very important to ensure that the robot is able to stabilize itself when it moves forward and backward. Stabilization and the trajectory tracking of the robot has gained extensive momentum and become increasingly popular with researchers around the world. In addition, the robot must regulate the steering angle when it turns left or right must be considered in control design and analysis beside stability and the trajectory tracking. To achieve these, two decoupling optimal controllers based on Linear Quadratic Regulator (LQR) design method are proposed in this paper to robustly balance the robot platform and to generate the required optimal control signals under any external disturbances. The simulation results are provided to show the effectiveness of the proposed designed control method to get an accurate tracking signal of the desired trajectory. Furthermore, the 3D representation of the simulation and a visualization model to observe robot behavior in different scenarios is included