Design and implementation of TWSBR trajectory tracking controller
LI Aijuan
SUN Chao
WANG Te
LIU Gang
GAO Boxun
Abstract：To address issues such as poor stability,large trajectory tracking errors,and complex control strategies in the actual operation of two-wheeled self-balancing robot(TWSBR),the dynamics and kinematics of TWSBR are analyzed and a mathematical model is established.A forward control system is designed based on the linear quadratic regulator(LQR),and a steering control system is designed based on the sliding mode variable structure controller(SMVSC).Simulation experiments are conducted on the LQR forward control system and SMVSC steering control system.Simulation results show that:the actual steering angle of TWSBR reaches the desired steering angle after 1.2 s,the actual body tilt angle reaches the desired body tilt angle after 2 s,and the actual speed reaches the desired speed after 3 s.A trajectory tracking generator is designed,and a TWSBR trajectory tracking control system is constructed,and a TWSBR experimental platform is built.TWSBR trajectory tracking experiment is conducted.The experimental results show that the errors of TWSBR body tilt angle,body tilt angular velocity,steering angle,and steering angular velocity stabilize near 0 after 1 s,while the displacement error and speed error stabilize near 0 after 2 s.The fluctuation range of each state variable of TWSBR is small after stabilization.Considering factors such as sensor acquisition errors and motor drive precision,the results indicate that the TWSBR demonstrates good trajectory tracking performance,and achieves displacement tracking,speed tracking,body tilt angle tracking,and steering angle tracking.
Keywords：TWSBRLQR forward control systemSMVSC steering control systemtrajectory trackingexperimental platform
Publication Date：2025-07-30
Online Publishing Date：2026-05-22(First online date of this platform, not the publication date of the document)
Pages：10( 91-99,107 )