Balancing a Two-Wheeled Mobile Robot using Adaptive Control

In this paper, an adaptive controller is developed for the famous inverted pendulum problem presented as the two-wheeled mobile robot (TWMR). The inverted pendulum by nature is an unstable system, and may be subjected to severe changes either in the environment, or in the character of disturbances. The objective of the controller is to keep the TWMR in upright position, and prevent it from tipping over when subjected to either unexpected impulses, or to shifted weights along its chassis. We choose the Indirect Self-Tuning Regulator (ISTR) in order to observe the parameters of our system, which are updated via Recursive Least-Squares method that is inherent in the formulation of the ISTR. Experimental results validate the effectiveness of the proposed method.