Optimal robust control for self-balancing robot-based feedback linearization and Atom Search Optimization

Alaa Jumaah Al-Maiahy (University of Baghdad)
Yahya Ghufran Khidhir (Northern Technical University)
Adnan Jabbar Attiya (University of Baghdad)
Hisham H. Jasim (University of Baghdad)

IAES International Journal of Robotics and Automation (IJRA)
Vol 15, No 3: September 2026

In this paper, a robust control method is suggested for attitude control of the two-wheeled self-balancing robot by combining feedback linearization with sliding mode control techniques. The proposed method takes into account important challenges such as external disturbance and system uncertainty. Feedback linearization cancels the nonlinearities in the dynamics of the robotic system, while the sliding mode control handles the uncertainties and the external disturbance. The parameters of the proposed controller are selected by tuning the controller with the Atom Search Optimization algorithm. MATLAB is used to simulate the proposed controller. Simulation results indicate a good performance of the presented controller with high robustness compared with the proportional-integral-derivative (PID) controller. Moreover, the proposed method reduces the rise time by approximately 40% and 50% with respect to PID. These results illustrate the feasibility of the presented control method to be used for real-time implementation in autonomous robotic balancing systems.