Decoupled control and path tracking of a two-wheeled self-balancing mobile robot

The paper deals with problems of effective control and path tracking of a two-wheeled self-balancing mobile robot (SMR). A mathematical model of SMR is derived and decoupling multi-variable control with respect to the robot linear velocity, steering angle, and vertical balance is described. The path tracking performance of the decoupled SMR controller was tested on the paths that are demanding from the steering point of view. The paths are planned by using a pure pursuit algorithm. Simulation results have shown that the proposed control method provides very good path tracking with the balance error kept within very small boundaries.