PD backstepping controller for stabilization of wheeled inverted pendulum

In this paper, the PD Backstepping control problem is investigated for two-wheeled inverted pendulum. A nonlinear model with two states is given which is proposed to keep stability at upright position and track the specified position. Backstepping controller is used to generate the law with measured states and ensures the convergence towards zero of the angle tracking error. Furthermore, PD controller is used to control the movement of system towards the set position. The co-simulation results demonstrate the effectiveness and correction of the proposed control method in this paper.