Two-wheeled self-balancing robot modeling and nonlinear control

This paper aims at modeling and nonlinear control of two-wheeled self-balancing robots based on gyroscope effect. An MIMO nonlinear dynamic mode is presented by using Euler-Lagrange method and Maple software to describe the self-balancing robot. Then a dual input-output sliding mode controller is designed to analyze the nonlinear system, and a simulation experiment is achieved with MATLAB/SIMULINK. The simulation results show that the designed controller is able to stabilize nonlinear system around equilibrium with great initial roll angle up to 45° with the case of no steering control and steering control, steering control have effect on balance of the robot.