Self-Tuning Position-Tracking Controller for Two-Wheeled Mobile Balancing Robots

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


This brief proposes an outer-loop control mechanism for two-wheeled mobile balancing robot position-tracking control system applications. The proposed outer-loop controller is comprised of two parts: 1) a simple proportional-type feedback controller and 2) the self-tuning algorithm. The cut-off frequency of closed-loop system is increased by the self-tuning algorithm to enhance the position-tracking performance in transient periods, which is the main contribution of this brief. Moreover, it is rigorously shown that the closed-loop system exponentially recovers the desired position-tracking performance. The closed-loop performance improvement is experimentally verified using the LEGO Mindstorms EV3 with MATLAB/Simulink software.

Original languageEnglish
Article number8463623
Pages (from-to)1008-1012
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Issue number6
Publication statusPublished - 2019 Jun


  • Two-wheeled balancing robot
  • performance-recovery property
  • self-tuning algorithm
  • tracking control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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