Dynamic modeling and adaptive motion control of a two-wheeled self-balancing vehicle for personal transport

In this paper, a dynamic model and adaptive motion controller of a two-wheeled self-balancing vehicle is presented. First, we derive a dynamic model of the vehicle with respect to the wheel motor torques as inputs using the Boltzmann-Hamel method in quasi-coordinates for nonholonomic systems. Using estimation-based approach, an adaptive controller is designed to achieve upright balancing and steering of the vehicle body in presence of parameter uncertainties. Simulation results are presented to illustrate the effectiveness of the proposed controller.