Observer-based controller for balancing robot with uncertain model

This paper focused on the observer-based controller of balancing robot. First, the dynamic model of the robot was inferred. The uncertainty of the model parameters was introduced as constraint in state space. A nonlinear observer associated to the uncertain model system was used to estimate the state variables. A control algorithm is proposed in order to achieve the control performances. The exponential stability of the control system was determined by Lyapunov techniques. Numerical simulations showed the control performance.