Mathematical model and control strategy of a two-wheeled self-balancing robot

In this paper a control strategy and sensor concept for a two-wheeled self-balancing robot is proposed. First a mathematical model of the robot is derived using Lagrangian mechanics. Based on the model a full state feedback controller, in combination with two higher-level controls are deployed for stabilization and drive control. A gyroscope, an accelerometer and rotational encoders are used for state determination, introducing a new method of measurement data fusion for the accelerometer and the gyro by using a drift compensation controller. Furthermore measurement proceedings for the model parameters of a real prototype robot are suggested and the control for this robot is designed. The proposed mathematical model, as well as the control strategy are then verified by comparing the behavior of the constructed robot with model simulations.