Straight-driving and turning compound control of the self-balancing two-wheeled robot

Self-balancing, straight-driving and turning control in two dimensional plane are the core technologies of the self-balancing two-wheeled robot. However, coupling relationship exists between the two wheels of the robot, which complicates the control system. This paper presents a novel straight-driving and turning compound control system. The controllers can be designed according to the special symmetric structure of the system to avoid complex modeling or decoupling problems. The mathematical model of the robot is established in terms of Lagrange equations. According to the symmetric coupling characteristic of the system, the structure of the compound control system is derived. The straight-driving and turning controllers are designed respectively. Simulation and experimental results are presented to illustrate the effectiveness of the proposed compound control system.