A method to coordinate balance and speed control of a two-wheeled robot

Two-wheeled robot draws attention of scientists in fields of robotics and robot technique due to its intrinsic instability in kinetic and enormous application prospect. In order to get accurate pitch angle of robot body, Kalman filter is applied to data fusion of both gyroscope and accelerometer. For wheel speed measurement perturbed by pitch angle change of robot body, effective compensation is realised. Then a controller is designed to coordinate both balance control applied Fuzzy-PD control and speed control applied feedforward feedback compound control.

1 Introduction

The two-wheeled self-balance robot is useful in many circumstances such as narrow space for search and rescue, crowded offices, traffic, and transport, which is attributed to its flexibility, mobility and relatively tiny figure [4] [5].