Modeling and Decoupling Control for Two-Wheeled Self-Balancing Robot

Dynamic modeling and state feedback control are presented for the two-wheeled self-balancing control robot (TWSBR) which is high-order, nonlinear, heavy couple and unstable. Firstly, Newtonian dynamics method is derived to obtain the dynamics equations of TWSBR nearby the equilibrium point. Secondly, some important performances are analyzed to manifest that TWSBR is heavy coupling and two decoupling controller are designed to constitute a decoupling control system. Finally, state feed-back controller is designed on the basis of linear quadratic optimal control, to realize the balancing and motion control. Simulation and experiment results manifest the effectiveness and feasibility of the designed methods to deal with such under-actuated TWSBR system.