Backstepping control design for two-wheeled self balancing robot

This paper presents different control schemes for tracking the pitch and yaw angle of a two-wheeled robot (TWR). Mathematical model of the TWR is developed using Lagrangian and Kirchhoff's current and voltage laws. The nonlinear system of TWR is first linearized at equilibrium point and then decomposed into two subsystems, a fourth and a second order system. The novelty discussed in this paper is the transformation of the fourth order system into strictly feedback form using input output linearization and is used to control the body pitch angle. The second order system is used to control the body yaw angle. The control strategies consisting of linear quadratic regulator (LQR) and iterative backstepping are developed to track the desired response. The simulation results ensure better performance for backstepping scheme as compared to the traditional LQR.