Hybrid PD and adaptive backstepping control for self-balancing two-wheel electric scooter

Abstract

This paper proposes a combination of adaptive self-balancing controller and the left and right turning PD controller for self-balancing two-wheel electric scooter (eScooter). An adaptive selfbalancing controller is synthesized by the backstepping approach and the Lyapunov stability theory. The proposed adaptive controller allows the design of a feedback control that stabilizes self-balancing control of eScooter in the presence of uncertainty and perturbation. Additionally, the sensor signals are treated by Kalman filters and the CAN networks are applied to communication among modules of eScooter. Simulation and experiment results are shown to analyze and validate the performance of proposed controller.

Adaptive Backsteeping SMC with Cuckoo Search Algorithm for Two Wheeled Self Balancing Robot

“…Here are some of the past works, Nguyen and Son [7,8] design BS-SMC for TWSBR trajectory tracking. A hybrid PD and adaptive BS controller is suggested by [9], while [10,11] design an adaptive PID, PD backstepping controller. In this paper, a two vigorous BS-SMC for self-adjusting robot is designed.…”