Nonlinear Control of a Two-Wheeled Self-balancing Autonomous Mobile Robot

This paper presents the non-linear control of an inverted pendulum type two-wheel self-balancing robot. Unlike most of the works in the literature, we propose a robust orientation control without resorting to linearizations around the equilibrium points or assumptions of small angles. The control algorithm has the property of being lightweight for possible implementation in embedded systems with low processing power. To validate the design of the control law, three parameters have been taken into account: settlement time, angles away from equilibrium position and ability to reject external disturbances.