Cascade sliding mode and RBF network self-adaption controller design for a two-wheeled robot

Sliding mode controller of a two-wheeled robot is designed in this paper. To simplify the design of the controller, the dynamic model is divided into two independent subsystems: balance subsystem and direction subsystem. Cascade sliding mode controller is designed for the balance subsystem, its control purpose is to track the ideal pitch angle and angular velocity and make the angular velocities of the two wheels stable. RBF network self-adaption controller is designed for the direction subsystem, its control purpose is to track the ideal yaw angle and angular velocity. Simulations of the controllers are taken, the results verify that the controllers are effective and robust.