Position and speed control of a two-wheeled balance mobile robot

Abstract

The inverted pendulum like control systems have been benchmark problems in demonstrating and motivating various control design technologies for not only teaching and research but also industrial applications. The purpose of this work is to design a balance and position/speed controller for a two-wheeled balance mobile robot to maintain the base in the up right position, and to track the wheel to a desired position. Experimental results show that the proposed state feedback position/speed control laws are easy to implement in both hardware and software, and effective in performance.

Keywords:

• Two-wheeled balance mobile robot
• state feedback
• LQR
• rate gyro
• tilt sensor