A time-delayed control method for robust balancing performance of a two-wheel mobile robot

This paper presents a design of a time-delayed controller for the robust balancing performance of a two-wheel mobile robot (TWMR). The PD control method can balance the TWMR, but it lacks for the robustness due to the disturbance. To reject the disturbance effectively, the time-delayed control method is utilized. For the comparison of the robust balancing performance, the performances of the PD control method and the time-delayed control method are compared. Experimental studies are conducted to demonstrate the performance of the time-delayed controller.