Turning Motion Control Design of a Two-Wheeled Inverted Pendulum Using Curvature Tracking and Optimal Control Theory

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Original languageEnglish
Pages (from-to)634-652
Journal / PublicationJournal of Optimization Theory and Applications
Issue number2
Online published28 Jan 2019
Publication statusPublished - May 2019



This paper presents a control design method for implementing planar turning motion of a two-wheeled inverted pendulum with an input delay. The control task requires that the inverted pendulum is kept stabilized during the whole turning motion process along a pre-settled curve. Firstly, by using the theory of planar curve, key observations about the motion law of the two-wheeled mobile chassis are made and they are used to set up a dynamical trajectory tracking target. Then, by adjusting the parameters in the tracking target and the weights in the quadratic performance criterion, the optimal integral sliding mode controller based on a linear quadratic regulator is designed for keeping the vehicle body stabilized and tracking a circular path for the two-wheeled inverted pendulum. An illustrative example is given to demonstrate the validity of the theory with numerical simulation.

Research Area(s)

  • Curvature tracking, Dynamical tracking target, Input delay, Optimal control, Two-wheeled inverted pendulum

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