Balancing control for single-wheel unicycle Robot using the Sliding mode controller

In recent years, sliding mode control has been disseminated in the industry, including nonlinear control, and is considered as one of the simplest methods for nonlinear system control, including uncertainly model-based systems that are affected by external magnetic interference or parameter conversion. This paper shows the method of sliding mode control for a single-wheel unicycle-like mobile Robot. First, the Robot kinematics model was established by using a self-balancing system based on the balancing control principle in two models; flywheel inverted pendulum. In order to simplify the complicated problem with high nonlinearity, this model was balanced in each direction. Then the system model was emulated, showing the result that the separation sliding mode control worked properly with a large angle of deflection (0.17 rad), and the wheel rolled slowly with the relatively low speed (~2.1 rad/s), while the flywheel rotated slowly with high-speed of rod control (~28 rad/s).