Self-balancing and Velocity Control of Two-Wheeled Mobile Robot Based on LQR Sliding Mode

This paper introduces a control method based on LQR sliding mode for the self-balancing and velocity control of the two-wheeled mobile robots(WMR) with external disturbance. The WMR motion mainly consists of the swing of the pendulum and the rotation of the wheel without taking turning movement into consideration. Firstly, a dynamic model of the two-wheeled mobile robots(WMR) is constructed, in which the WMR motor voltage is used as the input of the Newton method, and the non-complete sliding-free external disturbance is considered. Then, in order to realize the real-time control of the swing angle and speed, the dynamic control based on the LQR sliding mode control method is derived. On the theoretical level, the correctness of the proposed controller is proved by the Lyapunov method. The numerical simulation results also illustrate the effectiveness of the proposed control method.