NONLINEAR FEEDBACK CONTROL OF TWO-WHEELED SELF-BALANCING ROBOT MOVING ON THE SLOPE

Abstract

This paper focuses on establishing dynamic model and control design for two-wheeled self-balancing car running on slope. First, the motion equation of the system is obtained by using Largange II formulation. The differential equations of motion of the robot play a vital role in designing controller. In this paper, results demonstrate how effective controller is.