Trajectory tracking and regulation of a self-balancing two-wheeled robot : A backstepping sliding-mode control approach

This paper presents a backstepping sliding-mode motion control method for trajectory tracking and stabilization of a self-balancing two-wheeled robot (SBTWR). A decoupling method is proposed to decouple the robot´s dynamic model such that the motion controller can be synthesized in both kinematic and dynamic levels. In the kinematic level, two virtual controls for trajectory tracking and stabilization are respectively constructed; in the dynamic level, the controlled torques to derive two wheels are established using the sliding-mode control approach in a unified control framework, in order to achieve trajectory tracking and stabilization. Simulations results indicate that the proposed motion control architecture is capable of providing appropriate control actions to satisfactorily achieve both position control and trajectory tracking.