System Modelling and Controller Design of a Variable Structure Two-Wheeled Robot Using Robust Adaptive Dynamic Programming

In this paper, a variable structure two-wheeled robot is studied. First, we show the system modelling using Appell dynamics. A simplified and decoupled linear model, which describes the dynamic characteristics when the robot’s rotational angle of two forks is fixed, is derived in this paper. Then, a robust controller to reject the disturbances is designed by using a learning algorithm based on robust adaptive dynamic programming methods. Finally, the simulation shows the effectiveness of our controller in stabilizing the robot and disturbance rejection.