Summary
Self-balancing robots have gained prominence in domestic and industrial applications due to their notably smaller footprint than their naturally stable counterparts. However, the dynamics and control of such robots pose significant engineering challenges. In this study, we develop a planar dynamics model to represent a self-balancing robot and employ the Lagrange method to derive its equations of motion. Subsequently, we design a sliding mode controller to regulate the robot's pitch angle. Our analysis also highlights the impact of actuation delay, which we explore using numerical methods.
