Switching Control in Two-Wheeled Self-Balancing Robots

Research output: Chapter in Book/Report/Conference proceedingPublished conference contribution


A two-wheeled self-balancing robot is a statically unstable non-linear system with strong coupling dynamics. Common practices in the development of control systems for such robots are either to linearise the region of application to be used with linear controllers or to use complex nonlinear controllers such as Fuzzy logic, Sliding Mode, and Neural Networks. Nonetheless, in this paper, we are proposing a novel to this field concept of switching control that would adjust its approach depending on the evaluation of the current states. The performance of the proposed controller was assessed against exemplary solely linear and solely non-linear controllers in simulated tests. The tested were evaluated against dynamic criteria (distance traveled, max. angular deviation, etc.), control criteria (settling time, % overshoot, etc.), and environmental criterion of energy consumption. The results showed an interesting behavior of the proposed controller, with superior performance in many cases.
Original languageEnglish
Title of host publicationProceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)978-1-7281-9077-8
ISBN (Print)978-1-7281-9078-5
Publication statusPublished - 2021
EventIEEE International Conference on Robotics and Automation (ICRA) - Xi'an, China
Duration: 30 May 20215 Jun 2021

Publication series

NameIEEE International Conference on Robotics and Automation (ICRA)
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X


ConferenceIEEE International Conference on Robotics and Automation (ICRA)

Bibliographical note

This work was supported by the Carnegie Trust Vacation Scholarship funding, awarded to Nikita Murasovs.


  • CoppeliaSim
  • switching control
  • SMC
  • PID


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