On modelling and control design for self-balanced two-wheel vehicle

Nguyen Hoang Quang


In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller.

Full Text:


DOI: https://doi.org/10.15625/0866-7136/30/3/5615


  • There are currently no refbacks.

Copyright (c) 2008 Vietnam Academy of Science and Technology



Editorial Office of Vietnam Journal of Mechanics

3rd Floor, A16 Building, 18B Hoang Quoc Viet Street, Cau Giay District, Hanoi, Vietnam

Tel: (+84) 24 3791 7103

Email: vjmech@vjs.ac.vn