Design of a Two-Wheeled Auto-Balancing Robot under Impulse Interruption

Abstract

The innovation of two-wheeled balancing robots affects human life in different ways. Immense research continues to be undertaken to make such robots cheap, efficient, and reliable. Essentially, autonomous mobile robots are two-wheeled, vertical, and self-balancing. The robot's control system and automation application are intergraded with daily human life. Autonomy is applied to vehicles such as mobile robots, referred to as a vehicle capable of independent motion. Mobile robots can be used in various applications such as exploration, the food industry, home service, security, logistics, and many more. Moreover, it can be classified into four types: Locomotion, perception, cognition, and navigation. In this work, the two-wheel, auto-balancing robot is investigated. The two-wheeled robot cannot operate without a controller and is susceptible to interruption and lean-to plunging outside the field. The PD controller, linear quadratic regulator (LQR), sliding mode control (SMC), and fuzzy logic control (FLC) can be used to set the robot into a stable upright position in the rotation angle condition. In this research, four control strategies are compared to obtain the solid validation of a two-wheeled balancing robot. These models are investigated in this study to find the best controller among the PD, LQR, SMC, and FLC and achieve solid validation. The PD and LQR show a convergence response time of 1.2–2.0 s to the equilibrium state for distance and time, which is slower than the SMC and FLC. The intersection to the equilibrium zone is 1.8 s and 1.2 s, respectively. The angle position response of the PD is 2.5 s, which is slower than the others. Whereas the LQR, SMC, and FLC reach equilibrium in 1.5, 1.5, and 1.25 s, respectively. According to the results, the FLC performed better in two-wheeled auto-balancing under the pendulum within the linear distance in centimeters and angle positions in radian.