Simulation and Control of a Two-wheeled Self-balancing Robot

A two-wheeled self-balancing robot is a special type of wheeled mobile robot, its balance problem is a hot research topic due to its unstable state for controlling. In this paper, human transporter model has been established. Kinematic and dynamic models are constructed and two control methods: Proportional-integral-derivative (PID) and Linear-quadratic regulator (LQR) are implemented to test the system model in which controls of two subsystems: self-balance (preventing system from falling down when it moves forward or backward) and yaw rotation (steering angle regulation when it turns left or right) are considered. PID is used to control both two subsystems, LQR is used to control self-balancing subsystem only. By using simulation in Matlab, two methods are compared and discussed. The theoretical investigations for controlling the dynamic behavior are meaningful for design and fabrication. Finally, the result shows that LQR has a better performance than PID for self-balancing subsystem control.