Switching Control in Two-Wheeled Self-Balancing Robots
Nikita Murasovs Maria Elena Giannaccini Sumeet S. Aphale Nikita Murasovs Maria Elena Giannaccini Sumeet S. Aphale
A two-wheeled self-balancing robot is a statically unstable non-linear system with strong coupling dynamics. Common practices in the development of control systems for such robots are either to linearise the region of application to be used with linear controllers or to use complex nonlinear controllers such as Fuzzy logic, Sliding Mode, and Neural Networks. Nonetheless, in this paper, we are prop...