Two-wheeled self-balancing robot dynamic model and controller design

In this paper, we focus on the two-wheeled self-balancing robot dynamic model and controller design. Establishing the dynamic model, through Lagrange equation of the generalized coordinates of the robot system. According to the partial feedback linearization principle, making the two free degree of the left and right wheel be linear. The pitch angle between the vertical shaft and the centroid direction of the under-actuated robot is as the internal dynamic consideration. We design the nonlinear control algorithm of the robot balance movement and use the Matlab simulation to achieve the balance control of the two-wheeled self-balancing robot.