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A PID backstepping controller for two-wheeled self-balancing robot

Conference Paper · October 2010

DOI: 10.1109/IFOST.2010.5668001

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Abstract:
This paper presents a method to design and control a two­wheeled self­balancing robot and it focus on hardware description, signal processing,
discrete Kalman filter algorithm, system modelling and PID backstepping controller design. In the system, signals from angle sensors are filtered by a
discrete Kalman filter before being fed to the PID backstepping controller. The objectives of the proposed controller are to stabilize the robot while try to
keep the motion of robot to track a reference signal. The proposed PID backstepping controller has three control loops, in which the first loop uses a
backstepping controller to maintain the robot at equilibrium, the second loop uses a PD controller to control the position of robot and the last uses a PI
controller to control the motion direction. Simulations and experimental results show that the proposed control system has good performances in terms
of quick response, good balance, stability .

Published in: Strategic Technology (IFOST), 2010 International Forum on

Date of Conference: 13­15 Oct. 2010  INSPEC Accession Number: 11697445

Date Added to IEEE Xplore: 13 December 2010 DOI: 10.1109/IFOST.2010.5668001

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Conference Location: Ulsan, Korea (South), Korea (South)

   
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IFOST 2010 Proceedings

A PID Backstepping Controller For Two-Wheeled Self-Balancing Robot

Nguyen Gia Minh Thao(l), Duong Hoai Nghia(2), Nguyen Huu Phuc(3)
Faculty of Electrical and Electronics Engineering
HoChiMinh city University of Technology (HCMUT)
HoChiMinh city, VietNam
(I) ngmthao@hcmut.edu.vn , (2) dhnghia@hcmut.edu.vn, (3) nhphuc@hcmut.edu.vn

Abstract - This paper presents a method to design and control a Figure 1 and Figure 2 show the prototype design of the
two-wheeled self-balancing robot and it focus on hardware robot. The designed robot has an aluminum chassis, two
description, signal processing, discrete Kalman filter algorithm, 24V-30W DC-Servo motors for actuation, an accelerator and a
system modelling and PID backstepping controller design. In the
gyroscope for measuring pitch angle and angular velocity of
system, signals from angle sensors are filtered by a discrete
the body of robot, two incremental encoders built in motors for
Kalman filter before being fed to the PID backstepping controller.
The objectives of the proposed controller are to stabilize the robot
measuring the position of the wheels. Two serial 12V-3.5 Ah
while try to keep the motion of robot to track a reference signal. batteries make a 24V-3.5 Ah power which supplies energy for
The proposed PID backstepping controller has three control loops, two DC-Servo motors. Another 12V-1.5 Ah battery supplies
in which the first loop uses a backstepping controller to maintain energy for the central control module. Some operations of the
the robot at equilibrium, the second loop uses a PD controller to robot (upright and balance, moving forward, moving backward,
control the position of robot and the last uses a PI controller to turning left, turning right,... ) which can be controlled from
control the motion direction. Simulations and experimental buttons on the central control module or the RF remote
results show that the proposed control system has good
control.
performances in terms of quick response, good balance, stability .
Signals processing and control algorithm are embedded in
Keywords - Two wheeled self-balancing robot, Discrete Kalman a two-core micro-controller (MCU) MC9S12XDP512 which is
filter, Backstepping control, PID control, Embedded system. a 16-bit MCU of FreeScale.

I. INTRODUCTION
Two-wheeled self-balancing robot is a multi-variable and
uncertain nonlinear system [1],[2],[7],[8], so that the
performance of the robot depends heavily on the signal
processing and the control method in use. In recent years, the
number of researches on backstepping control have increased
[4],[5],[6]. The backstepping approach provides a powerful
design tool for nonlinear system in the pure feedback and strict
feedback forms. So it is of great interest and feasible to use
backstepping approach to design a compatible controller for Figure 1. The prototype two-wheeled self-balancing robot
two-wheeled self-balancing robot when the mathematical
model of robot is identified. Pitch angle
measurement module RF
The designed two-wheeled self-balancing robot is given in
Figure 1. Signals from angle sensors are filtered by a discrete
-receiver
module

Kalman filter before being fed to the PID Backstepping

(Direct
controller. The purposes of the controller are to stabilize the (Ea.c>-at.:
control)
robot and keep the motion of the robot to track a reference JJ5200BlM)

signal. The proposed PID Backstepping controller has three

control loops (Figure 7). The first loop is a nonlinear controller
based on backstepping approach, it maintains the tracking
error of the pitch angle at zero. The second loop uses a PD .!l.alle!)' for
central control
controller to control the position of the robot, and the last loop module
(12Vdc-l.SAh)
uses a PI controller to control the direction of motion. Pulse input capture

The remainder of this paper is organized as follows. Cl=d 0, J Ci>=Id 0, J Ci>=Id 6, 7 Cl=d 2, 3

Section II describes hardware and sensor signals processing of

the designed robot. Section III presents the discrete Kalman
filter algorithm. Section IV shows the mathematical model of
the robot. Section V presents the method to design the
proposed PID Backstepping controller. Section VI shows the
simulation results and experimental results of the proposed
control system. Section VII includes conclusions and direction
of future development of this project. Section VIII is the list of Figure 2. Hardware description
reference documents used for this paper.
B. Sensor Signals Processing [1]
II. HARDWARE DESCRIPTION
The angle sensor module includes an accelerator and a
A. Hardware of the Designed Robot [10], [11], [12] gyroscope, two incremental encoders which provide full state

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IFOST 2010 Proceedings

of the robot (Figure 3). Signals from accelerator sensor and

[0 -I] [0] ; [angyrogle] ; R 0.15

The parameters of discrete Kalman filter are as follows
gyroscope sensor are being fed to the Kalman filter (presented
in Section III).
A= ° ° ; B= ° X = =
ILJl
[I 0] [0.001 0 ]
pinitial = °
1 0.004' [ 0]
.
,Q = ° · H= I

Figure 5 shows that the angle measurement filtered by

,,
Kalman Filter is better than the unfiltered angle measurement.
[-w._"""",,.[

, · i� .�I�. �I,r llWL"h

. J...'!hAL .. � ...
� (r
k .MIJ�
1'1
,� I�· Vf"I
�. liN r '''''''If
Accelerator
Sensor

(MMA7260)
,,
GyroScope
Sensor

r--- , , , , , , , , ,
L--.--I....J
(LlSY300A) . "
'''''.(Iee)

Interface between sensor signals and

Figure 5. Comparision between filtered and unfiltered angle measurement
two-core MCUMC9S12XDP 512.
Figure 3. Sensor signals processing
IV. MATHEMATICAL MODEL OF THE ROBOT
III. DISCRETE KALMAN FILTER The coordinate system of robot is shown in Figure 6, we
The Kalman filter estimates a process by using a form of use the Newton's Second Law of motion to identify the
feedback control [3]. The filter estimates the process state at mathematical model of robot [1], [7], [8], [9].
some times and then obtains feedback in the form of (noise)
measurements. The equations of discrete Kalman filter can be . '

decomposed into two groups: Time Update equations and

Measurement Update equations, as shown in Figure 4.
The time update equations use the current state and error
covariance estimates to obtain the estimates for the next time
step (Table 1). The measurement update equations use the
current measurements to improve the estimates which obtained
from the time update equations (Table 11).

Time Update lVIeasurement Update

("Predict") ( "Correct")

i '------.-/
Initial estimates
Figure 6. Free body diagram of the chassis and the wheels
Figure 4. The discrete Kalman filter algorithm
• For the left wheel of robot (same as the right wheel).
TABLE I. TIME UPDATE EQUATIONS

MWXWL = H -HL n (6)

n- - w
Project the state ahead
x; = AXk_1 + BUk (1)
MW YWL = V V L M g (7)

Pk- = A Pk_1AT +Q
Project the error covariance ahead
(2) JWJiWL = CL -H R
xWL =8WLR
n (8)
(9)

JWL = 2 MWLR
TABLE II MEASUREMENT UPDATE EQUATIONS
Compute the Kalman gain
1 2
(10)
Kk = Pk-HT HPk-HT +R
-

( ( (3)

( XWL +XWR )
• For the body of robot.
Update estimate with measurement Zk

xk = x; + Kk ( Z k Hx; ) - (4)
XB = Lsin8B + 2
(11)

YB = - L(1 - cos8B)
It = (I - KkH)It-
Update the error covariance (12)
(5 )
MBxB =HL +HR (13)

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IFOST 2010 Proceedings

MBYB =VL +VR -MBg +Fc

( CL +CR) (14)
=VL +VR -MBg + smOB •

L
JijB =(VL +VR )LsinOB -
(15)
-(HL +H R )LcosOB -( CL +CR)
1 2
JB =-M
3
BL (16)

(17)

Where VTL,VTR ' HTL, H R T

are reaction forces between
the wheels and ground. H HR' VL,VR
L
' are reaction forces
between the chassis and the wheels. The parameters of robot
are defined in Table III .

TABLE III. PARAMETERS OF ROBOT

[�+M, q'lS(�+�=;))(=;)]
Symbols Parameter Value {uflit!
0,c5 Pitch and yaw angle [rad]

(
Mass of wheel 0.5 [leg]
Mw

'h �)
Mass of body 7 [leg]

(MA (AZ)2)
MB
R Radius of whe el 0.07 [m]

siru;)
[�+M, q �+�=;))(=;)]
L Distance between the centres of the wheels and the 0.3 [m]
robot's centre of gravity

(
D Distance between the contact patches of the wheels 0.41 [m]

'.r. �,x,)
g Gravity constant '
9.8fms ]

'IS(
[o,75(AO?+��) (1+(siru;)2)
Input torque for left and right wheels [N.m]
CL,CR

�J
From equations (6) to (17), the state equations of
two-wheeld self-balancing robot are written as:

75 sinO) 0,75MJ,(sinO) (aEO) (a?

M/3 R
J0,75(A()?+MJ,(aEO))(aEO)
J {
10= --{), g(
..

I
l (2Mw+Ms)L (2Mw+Ms)L VI
+

]
L
0,75 (1+(sin0)2) 0,75 (aEO)
I C
MJ3 (2Mw+Ms)RL 0
From equations (19.1) and (19.2), we can use
Backstepping approach to control the pitch angle 0 of robot.

{J
0,75(A()?+MJ,(aEO))(aEO) = --{),75g(A()?+MJ,(aEO))(sinO)
x +

I]
L L
V. pm BACKSTEPPING CONTROLLER DESIGN

A. Structure a/Control System

. 0,75(A()?+MJ,(aEO))(I+(sin0)2)
( I\2
+MJ,(sinO) 0 +- Co
Met2 R
The structure of the control system has three control loops
as shown in Figure 7.

2
(18)

Xl = 8, x = 8, X3 = x, X4 = X.
c
Define some state variables:
PI
The state equations of two-wheeled self-balancing robot are (Rotation
rewritten as: Controller)

Xi =X2 (19.1)
BackSteppillg Two-
(Balance
x2 =h (.x;) +J; (.x;,x2) +gl (.�;)Ce
.--�r..,,----, wheeled

(19.2)
Controlkr) + ROBOT

.x:, =x4 (19.3)

(19) PD
(Position

x4 =h (.x;) +h (.x;,X2) +g2 (.x;)Ce

Cx
(19.4)
Controller)

Figure 7. PID Backstepping controller scheme

Where:
B. Backstepping Controller Design [4], [5 ], [6]
Co CL +CR
el = xlre! - Xl
o =
Step la: Defme a tracking error as

where xlre! = Ore! is the reference value for pitch angle 0

3 978-1-4244-9037-0/101$26.00 ©2010 IEEE

IFOST 2010 Proceedings

Define the virtual control a such that limH� e\ (t) = 0 , as D. Rotation Controller Design. [11]
a=k\e\ +C\ Z\ + x\ re! (20) In this control loop, a PI controller is designed to control
the direction of motion (Figure 9).
where k], c] are positive contants and z\ = fe\ ( r)dr.
co
Step Ib:

2
C\
2
I
The fIrst Lyapunov function is defined as

V; =-z\2 +-e \2 (21)

�:
� =CIZIZI +eIE\ =clzlel +eA =el (CIZI +el)
The derivation of
Figure 9. PI-controller for rotation scheme

Step 2a:
Define the error between the virtual control a and
input x2 of (19.2) as
(19.1) is rewritten as
From (23), we have
The derivation of e2:
(22)
When the robot doesn't move, or moves forward, or
0 ).
moves backward (doesn't tum left-right), the reference yaw
e2 =a -x2 angle equals zero (Jre! =
XI =a -e2 = klel +CIZI + xl re! -e2 (23) The control signal from the Rotation controller combines
with the control signals from the Balance controller and
c:\ = xlre! -XI = -klel -CIZI +e2 (24) Position Controller to make two separately control signals for
left and right wheels (Figure 10).

(;2 =a-x2 Ce Cx + C R (C Right)

=( k./1 +CjEi +�nf )-(,h(;X;)+fz (;x;,xJ +g\ (;x; )Ce )
+

Control the right motor

= lG (-k\Ei -c\z\ +e2)+c\Ei +�re! -,h(;x;)-fz (;x;,x2)-g\ (;x; )Ce

=( c\ -lG2h -lGc\z\ +lG e2 +�nf -,h(;x;)-fz (;x;,x2)-g\ (;X;)Ce
(25 ) Control the left. motor

� = e\ (c\z\ -( k\e\ +C\Z\) +e2) =-k\e� +e\e2

Substituting (24) into (22), we obtain Figure 10. The scheme of control signals for two DC-Servo motor

(26)
VI. SIMULATIONS, EXPERIMENTAL RESULTS
Step 2b:

2
�=V;+-�2 1
The second Lyapunov function is defined as

�n
A. Simulations

Vz
The parameters of the robot are defmed in Table III. Both
the pitch angle and the position of the robot are shown
simultaneously in Figure 11, Figure 12, Figure 13, Figure 14 .
Compute the derivation of as

Vz = V; +e2e2 = -klel +e]e2 +ei2

• •
2
V; defmite negative, we choose e2
(28) In these figures, the graph of pitch angle [deg] is the top graph,
the graph of position [m] is the bottom graph and the
For making as
horizontal axis is time [sec].
e2 = - k2e2 -e] ; with k2;::: 0 (29)
• The robot maintains at equilibrium and doesn t move.
(Orel = 0 [deg], xrel = 0 [m])
0
Substituting (29) into (28), we obtain
V2 = -klel2 - k2e22 Figure 11 shows the response of the robot with small
•

< (30)

initial pitch angle (Bo = 5 [deg]), and Figure 12 shows

(1+cI -� )el +( Ai +1s)e2 -Aiclz\ +�nf -J; (;X;) -fz (;X;,Xz)
From (25), (29) we have the equation of control signal as

the response of the robot with large initial angle

Ce
g\ (;X;) (Bo = 25 [deg]) . Both the angle (0) and the position
(31) of robot ( x ) converge to zero for two initial
conditions.
C. Position Controller Design. [11], [12]
In this control loop, a PD controller is designed to control
the position of the robot (Figure 8).

Time (sec)

0.05

When the robot uprights and doesn't move ( Bre! = 0 ), the O.Q.4 •

003 .

0.02 ---------------.. -----

reference position equals zero (xre! = 0 ).
001

If the reference pitch angle doesn't equal zero, the robot ° 0� � �==�=,�0== ------�51
will move forward ( Bre! > 0 ) or move backward (Bre! < 0 ). In
Time (sec)
---------- ------ =---

Figure II. The robot maintains at equilibrium with small initial pitch angle
this operation, the position PD controller isn't used. (00 =5 [deg])

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IFOST 2010 Proceedings

TABLE IV. PARAMETERS OF

THE PID BACKSTEPPING CONTROLLER
Controller Parameters
Backstepping - Balance k l = 110.5;k2= 21.4; Cl = 3
PD - Position Kp= 60;KD= 7.5
PI - Rotation Kp= 47.5 ;K,= 5
Time (sec)
• The robot is in equilibrium and doesn � move.
(ere! = 0 [deg], xre! = 0 [m])
03 Figure 15 shows the experimental result that the
designed robot is in equilibrium. In this operation, the
02 .
Backstepping controller for balance and the PD
0.1 controller for position are active. The pitch angle of
°0�------------�------�====� 1O�==----------�'5 robot ( e ) is regulated under 1.1 [deg], and the
position of robot (x) is regulated under 0.04 [m].
Time (sec)

Figure 12. The robot maitains at equilibrium with large initial pitch angle
(00 = 25 [deg])

• The robot tracks a reference pitch angle, (Jre! *- 0 [deg].

Figure 13 shows the response of robot with positive

:::: :::::: ::: := . · ··d2T J :·:

reference pitch angle (Bre! = 5 [deg]). In this TIme (sec)
.

:�hl.r • • • • • • • • •I? • • • • ±4.

condition, the robot moves forward, so that the
PD-controller for position isn't used (Kp=0;KD=0). ::�: ..
. .

: -7-1'I
� 5

: : :
o 2 4 5
·_
.. ·_
...._
.. ·_

-- - -- TIme (sec)
. . . .. . . . . .. . .. . . ..
10 � �

!:�
. . - . - .. .. - - . .. ..
_
.. .. . ...
__
.. .. - .. . . ....
_
.... - -.
- - .
: : :
:
.
..................... ... ; ............ . .. .. .. ..
..e : :
...J : :

-- - - - - -
�
1.5 2.5 3.5 4.5
Time (sec)
o 1 2 3 4 5
Time (sac)
6 t t t t , ; ; ;...........;
,,, ,,, ,,
········· ·········· ··· ····__··· ·········· ············_-_·········· ......._-_.......

---------�----------�----------� ,
--------_._---------_._---------_._-----
Figure 15. A experimental result that the designed robot is in equilibrium

:- ::-
4 ---------�----------�----------� - The robot maintains at equilibrium with an external
�
•
- - - - - - - -�

- - -------�----------�----------�
-=0

disturbance. (Bre! = 0 [deg])

3
� 2
o

1 Figure 16 shows the response of the designed robot

o

'
---- ----------;----------- j 1 1
a.

-------------------------
:
--------------

when it is affected by a external disturbance. The

Time (sec) robot still maintains at equilibrium and the pitch angle
Figure 13. The robot tracks a reference pitch angle (Ore! = 5 [deg]) of robot is regulated after 1.5 [sec]. The Backstepping

The robot moves to the set position (xre! = 2 [m])

controller for balance is active and the PD controller
•
for position isn't active. So, when the robot is affected
by an external disturbance, the robot moves forward to
regulate the pitch angle. Finally, the robot is balanced

('-f ._·_. _. ·_O,:O·�

:::�iS:� U·· i'··;Ct::: : : i "· " ": ·: :·: :·::·: ·::: · ·: ·. .: · . ·:: . . . ·1
in the new position.

,-_ _ _ _ J...._ _ _ _ ,.,.:-, _ ",,"!:,..: 'O-,_ _ _ _ -=,u:-_ _ _ _ ,..., .- - - - �,,,...,- - -'

·-

Time (sec)

Time (sec)

Time (sec)

B.
Figure 14.

Experimental Results
Time (sec)
The robot moves to the new position which is at the
distance of two mets.
i.� � ·�0�--'-0�.5'-----'�--�'.5:--��2----�2 .5
:---�3----�3.
- 5--�4
""'
Time (sec)

• Parameters of the proposed PID Backstepping Figure 16. The designed robot maintains at equilibrium when it is affected
controller are shown in Table IV. by a external disturbance

5 978-1-4244-9037-0/101$26.00 ©2010 IEEE

IFOST 2010 Proceedings

• The robot moves to the set position (xre! "# 0 [m]) VII. CONCLUSION
In this operation, both the Backstepping controller This paper presented a method to design and control a
for balance and the PD controller for position are two-wheeled self-balancing robot. Simulations and
active. When the robot moves forward, the reference experimental results show that the nonlinear controller based
signals of the proposed controller are: on Backstepping approach has good performances in terms of
Ore! 0 , xre! > O. When the robot moves backward,
= quick response, good balance and robust against disturbance.
In the future, the proposed Backstepping controller will be
reference signals of the proposed controller are:
Ore! 0 , xre! < 0 . Figure 17 and Figure 18 show the
combined with fuzzy logic to design a hybrid controller for
=
improving the performance of the robot.
responses of the robot when the robot moves forward
(with xre! 0.8 [m]) and moves backward (with
= VIII. REFERENCES

xre! =
-0.4 [m]). [1] Felix Grasser, Aldo D'Arrigo, Silvio Colombi, Alfred Ruffer , "JOE: A
Mobile Inverted Pendulum", IEEE Trans. Electronics, vol. 49, no 1, Feb
2002, pp. 107-114.

I:� WI
[2] S.W.Nawawi , M.N.Ahmad , lH.S. Osman , "Development of
Two-Wheeled Inverted Pendulum Mobile Robot",
SCOReD07,Malaysia, Dec 2007, pp 153-158

l" �'" f
[3] Greg Welch, Gary Bishop , "An Introduction to the Kalman Filter"
Siggraph 2001 Conference, Course 8.
o 1 2 3 4 5 6
Time (sec)
[ 4] Tatsuya Nomura , Yuta Kitsuka, Hauro Suemistu, Takami Matsuo ,
"Adaptive Backstepping Control for a Two-Wheeled Autonomous

I : : : i i 1
Robot", ICROS-SICE International Joint Conference 2009, Aug. 2009,

;"'················'·' ·············· ·······i

pp 4687 - 4692.
[5] Xiaogang Ruan , Jianxian Cai , "Fuzzy Backstepping Controller for
en : : : : :
I- , , , • •

o : : : : : : Two-Wheeled Self-Balancing Robot", 2009 International Asia

,

a. : : : : : :
o i ' , . , i Conference on Informatics in Control, Automation and Robotics.
o 1 2 3 4 5 6 [6] Arbin Ebrahim, Gregory Y.Murphy, "Adaptive Backstepping Controller
Time (sec)
Design of an Inverted Pendulum", System Theory, 2005, Proceedings of
the Thirty-Seventh Southeastern Symposium on, pp. 172-174.

i]� l
[7] D. Y. Lee, Y. H. Kim, B. S. Kim, Y. K. Kwak , "Dynamics and
Control of Non-holonomic Two Wheeled Inverted Pendulum Robot",
Proceedings of the eighth International Symposium on Artificial Life
and Robotics, 2003.
· � L-----� ------� ------- L-----�L-----�------�
O 1 2 3 4 5 6 [8] Jingtao Li, Xueshan Gao, Qiang Huang, Matsumoto, "Controller design
Time (sec)
of a two-wheeled inverted pendulum mobile robot", Mechatronics and
Figure 17. The designed robot moves forward to the positive set position. Automation 2008, ICMA 2008, IEEE International Conference on.
[9] S.W.Nawawi, M.N.Ahmad
, J.H.S. Osman, "Real-Time Control of
Two-Wheeled Inverted Pendulum Mobile Robot" ,
www.waset.orgjjournals/wasetlv39/v39-39.pdf
[l0] David P. Anderson , "nBot - a Balancing Robot", 2003
http://www.geology.smu.edu/-dpa-www/robo/nbotl
[II] Brian Kuschak, "bk-Bot, yet another 2-wheel balancing robot", 2007
i
05 35 4 www.bkinnovation.comlbkbotl
Time (sec)
[12] Ted Larson, Bob Allen, "Bender - a balancing robotic" , 2003
www.tedlarson.com/robots/balancingbot.htm

TIme (sec)

Figure 18. The robot moves backward to the negative set position.

C. Demo Operation Videos of Robot

Some demo operation videos of the robot were uploaded to
Youtube as
• The robot is in equilibrium and doesn't move.
http://www.youtube.com/watch?v=ork5IFdIT14

• The robot is affected by an external disturbance, and it

still maintains at equilibrium.
http://www.youtube.com/watch?v=efx41ItkxuM

• The robot maintains at equilibrium, moves forward

and moves backward.
http://www.youtube.com/watch?v=RN09TUtpog4

978-1-4244-9036-3/101$26.00 ©2010 IEEE 6

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