Two Wheeled Robot Self Balancing Control Research

Ni Dan (Hunan International Economics University)
Jingfang Wang (Hunan International Economics University)

Indonesian Journal of Electrical Engineering and Computer Science
Vol 2, No 3: June 2016

According to movement balancing and position control problem of Self Balancing Two Wheeled Robot, a method based on H∞ Robust Control was proposed. We apply it onto the MIMO nonlinear model of robot, and simulated it in the MATLAB environment The simulation results shows that the robot can be balanced in fixed position well by this method, and also it have the ability to anti interference.