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Speed regulation of a self-balancing robot by energy shaping.

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Title: Speed regulation of a self-balancing robot by energy shaping.
Authors: Gandarilla, Isaac1 (AUTHOR) igandarillae@lalaguna.tecnm.mx, Santibáñez, Víctor1 (AUTHOR), Sandoval, Jesús2 (AUTHOR)
Source: International Journal of Control. Jun2026, Vol. 99 Issue 6, p1957-1971. 15p.
Subjects: Partial differential equations, Inverted pendulum (Control theory), Passivity-based control, Cruise control
Abstract: The self-balancing robot is a mobile platform extensively utilised in the formulation of control algorithms targeting position regulation. Contrary to the aforementioned control objective, this paper presents an energy shaping control strategy designed to drive the self-balancing robot at a predetermined velocity while ensuring the pendulum remains in an upright vertical position. This work introduces a novel strategy that allows to simplify and solve the matching equations, resulting from a Genuine-Hamiltonian energy shaping position/velocity regulation controller, applied to a self balancing robot, which has a non–constant inertia matrix and that can not be transformed into a constant one via partial linearisation. This novel technique allows to solve in an algebraic form some of the matching equations, which in general, are described by partial differential equations (PDEs), simplifying their solutions. Comparative real-time experimental results illustrate the satisfactory performance of the proposed controller in comparison with other controllers already in the literature. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Control is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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DbLabel: Engineering Source
An: 194222074
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PubTypeId: academicJournal
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  Data: Speed regulation of a self-balancing robot by energy shaping.
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  Data: <searchLink fieldCode="AR" term="%22Gandarilla%2C+Isaac%22">Gandarilla, Isaac</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> igandarillae@lalaguna.tecnm.mx</i><br /><searchLink fieldCode="AR" term="%22Santibáñez%2C+Víctor%22">Santibáñez, Víctor</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Sandoval%2C+Jesús%22">Sandoval, Jesús</searchLink><relatesTo>2</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Control%22">International Journal of Control</searchLink>. Jun2026, Vol. 99 Issue 6, p1957-1971. 15p.
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  Data: <searchLink fieldCode="DE" term="%22Partial+differential+equations%22">Partial differential equations</searchLink><br /><searchLink fieldCode="DE" term="%22Inverted+pendulum+%28Control+theory%29%22">Inverted pendulum (Control theory)</searchLink><br /><searchLink fieldCode="DE" term="%22Passivity-based+control%22">Passivity-based control</searchLink><br /><searchLink fieldCode="DE" term="%22Cruise+control%22">Cruise control</searchLink>
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  Label: Abstract
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  Data: The self-balancing robot is a mobile platform extensively utilised in the formulation of control algorithms targeting position regulation. Contrary to the aforementioned control objective, this paper presents an energy shaping control strategy designed to drive the self-balancing robot at a predetermined velocity while ensuring the pendulum remains in an upright vertical position. This work introduces a novel strategy that allows to simplify and solve the matching equations, resulting from a Genuine-Hamiltonian energy shaping position/velocity regulation controller, applied to a self balancing robot, which has a non–constant inertia matrix and that can not be transformed into a constant one via partial linearisation. This novel technique allows to solve in an algebraic form some of the matching equations, which in general, are described by partial differential equations (PDEs), simplifying their solutions. Comparative real-time experimental results illustrate the satisfactory performance of the proposed controller in comparison with other controllers already in the literature. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of International Journal of Control is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.1080/00207179.2026.2625798
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      – Code: eng
        Text: English
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      Pagination:
        PageCount: 15
        StartPage: 1957
    Subjects:
      – SubjectFull: Partial differential equations
        Type: general
      – SubjectFull: Inverted pendulum (Control theory)
        Type: general
      – SubjectFull: Passivity-based control
        Type: general
      – SubjectFull: Cruise control
        Type: general
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      – TitleFull: Speed regulation of a self-balancing robot by energy shaping.
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            NameFull: Santibáñez, Víctor
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            NameFull: Sandoval, Jesús
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              M: 06
              Text: Jun2026
              Type: published
              Y: 2026
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