Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots

Abstract

This brief proposes an outer-loop control mechanism for two-wheeled mobile balancing robot position-tracking control system applications. The proposed outer-loop controller is comprised of two parts: 1) a simple proportional-type feedback controller and 2) the self-tuning algorithm. The cut-off frequency of closed-loop system is increased by the self-tuning algorithm to enhance the position-tracking performance in transient periods, which is the main contribution of this brief. Moreover, it is rigorously shown that the closed-loop system exponentially recovers the desired position-tracking performance. The closed-loop performance improvement is experimentally verified using the LEGO Mindstorms EV3 with MATLAB/Simulink software.