Dynamic Modeling and Sliding Mode Controller Design of a Two-wheeled Self-balancing Robot

A two-wheeled self-balancing robot is analyzed in this paper. The dynamic model of this robot is presented based on Appell Equations. The model is divided into two separate subsystems: balance subsystem and direction subsystem, and sliding mode controllers for each subsystem is designed separately. Computer simulation of the controller is taken with Matlab/Simulink. Simulation results show that the designed controller can track the ideal displacement and yaw angle effectively, and make the pitch angle stable at the meanwhile. It indicates that the designed controller for two-wheeled self-balancing robot have a fast convergence speed and a strong anti-interference ability, and is effective.