Block Backstepping Control Design of Two-Wheeled Inverted Pendulum Via Zero Dynamic Analysis

In this study, the control design of block backstepping control has been presented for controlling the Two-Wheeled Inverted Pendulum (TWIP) system. The block backstepping control algorithm is developed to achieve two objectives. The first one is to stabilize the pendulum of TWIP system in the upright position, while tracking of prescribed path on the level of ground is the second goal of controller. The algorithm of block backstepping controller has been developed based on Lyapunov stability theorem and via zero dynamic analysis. Accordingly, the design has been developed via two procedural algorithms. The control design will result in control input, which is responsible for actuating the wheels of TWIP that satisfy both control objectives. The computer simulation has been conducted to show the effectiveness of proposed algorithm and the proposed controller could successfully achieve the required goals.