On the control of a two-wheeled balancing path-following robot

Two-wheeled balancing robots have been widely used for research and market purposes. This paper focuses on the control of such a robot to maximize its velocity when following certain paths. Dynamic model is constructed based on Lagrange equation; an efficient but low CPU-cost complementary filter is proposed to realize the accurate estimation of robot´s posture; three independent PID controllers are employed to achieve separate control tasks and then unified under a proposed global control scheme. Experiment results show that this robot could run at the speed of 2.2 m/s with rejecting disturbances.