Dynamic adaptive equilibrium control for a self-stabilizing robot

For Coaxial two-wheeled self-stabilizing robots, severe vibrations and fatal injury may occur when changing the center of gravity (CG) position, a feasible way for smoothly controlling the dynamic equilibrium in this condition is proposed in this paper; both the movement tendency and the height of system CG are concerned. A hybrid controller based on adaptive and full state feedback control is designed for the equilibrium control. Under the adaptive controller, the height of system CG is estimated and amended in every control-cycle, and stable control effects are achieved along with the states feedback controller. Influence of the height of CG on the dynamic equilibrium is analyzed. The authors present the simulation as well as the model experiments, which show the self-stabilizing robot could be controlled smoothly by the mixed controller whether the height is changed by the loads or not and it can return to balance in approximately 2.5s when it is disturbed.