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

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This study 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: a simple proportional-type feedback controller and 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 article. 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
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Publication statusAccepted/In press - 2018 Sep 11


  • Control systems
  • Cutoff frequency
  • Heuristic algorithms
  • Mathematical model
  • Mobile robots
  • Performance-recovery property.
  • Robot kinematics
  • Self-tuning algorithm
  • Tracking control
  • Two-wheeled balancing robot

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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