Position-Tracking Controller for Two-Wheeled Balancing Robot Applications Using Invariant Dynamic Surface

Seok Kyoon Kim, Choon Ki Ahn, Ramesh K. Agarwal

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


This paper suggests a position-tracking algorithm for the outer-loop through the invariant dynamic surface approach for balancing robot applications. The main feature is to devise a dynamic surface representing the target position-tracking performance with variable cut-off frequency. The proposed controller makes the dynamic surface invariant while updating the closed-loop cut-off frequency accordingly with the self-tuner. The closed-loop properties are rigorously analyzed. The experimental verification result shows that the proposed controller establishes the 48% enhancement of the circular tracking performance in comparison with the feedback linearization method, where the LEGO Mindstorms EV3 is used.

Original languageEnglish
Article number8567957
Pages (from-to)705-711
Number of pages7
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number2
Publication statusPublished - 2021 Feb

Bibliographical note

Publisher Copyright:
© 2013 IEEE.


  • Performance recovery
  • position-tracking
  • robot balancing
  • self-tuner

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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