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This paper describes the control method and mathematical model of a two-wheels self-balancing mobile robot. The mobile robot designed by author uses two parallel wheels to keep balance and uses a three axes gyroscope as position, velocity and accelerated speed detection sensor. This paper presents the mathematical modeling of two wheels inverted pendulum mobile robot. The dynamic model of the system has been established to design and analyze the control system. The control program and the controller LQR are designed in LabVIEW module.
Xu et al. (Thu,) studied this question.