Design of a Two-Wheeled Auto-Balancing Robot under Impulse Interruption

The innovation of two-wheeled balancing robots affects human life in different ways. Immense research continues to be undertaken make such cheap, efficient, and reliable. Essentially, autonomous mobile are two-wheeled, vertical, self-balancing. robot's control system automation application intergraded with daily life. Autonomy is applied vehicles as robots, referred a vehicle capable independent motion. Mobile can used various applications exploration, the food industry, home service, security, logistics, many more. Moreover, it classified into four types: locomotion, perception, cognition, navigation. In this work, two-wheel, auto-balancing robot investigated. cannot operate without controller susceptible interruption lean-to plunging outside field. PD controller, linear quadratic regulator (LQR), sliding mode (SMC), fuzzy logic (FLC) set stable upright position rotation angle condition. research, strategies compared obtain solid validation robot. These models investigated study find best among PD, LQR, SMC, FLC achieve validation. LQR show convergence response time 1.2–2.0 s equilibrium state for distance time, which slower than SMC FLC. intersection zone 1.8 1.2 s, respectively. 2.5 others. Whereas reach 1.5, 1.25 According results, performed better under pendulum within centimeters positions radian.