Dynamic Modelling and Design of Hierarchical Sliding Mode Control for a Two-Wheeled Self-Balancing Mobile Robot Moving on a Muddy Road.

The use of autonomous robots has grown in popularity during the last few years. Robots, including such wheeled and legged autonomous robots, have become such a simple answer to dull, dirty, and hazardous chores. Outdoor applications, like as on a muddy road, are possible with legged robots is harder to control and has a high cost because to its intricate structure. Despite TWSBMRs are best used on a homogeneous surface, they can also be used to substitute legged robots. Two Wheeled Self -Balancing Mobile Robots (TWSBMR) outperform other types of wheeled robots. TWSBMR occupies less space and is capable of zero-radius manoeuvring. The system dynamics modelling of the TWSBMR considering the effect of road muddiness and the design hierarchical sliding mode control (HSMC) are the key contributions of this research. In this study robot’s movement is limited to a two-dimensional platform. For the system measuring performance, a criterion such as settling time, percentage overshoot, and RMSE has been presented. The proposed criteria are used to quantify the response of the system to a HSMC in simulation. The simulation findings show that under muddy road scenarios, the robot can maintain the balance and maintain the desired trajectory. Specifically, the closed loop system demonstrated excellent performance with a tilt-angle settling time of 7 seconds, a maximum overshoot of 0 . 2 6 3 7 ◦ , and a maximum undershoot of – 6 . 9 7 ◦ . Additionally, the position of the vehicle achieved a settling time of 5 seconds with a percentage overshoot (POS) of 7.2%. These results indicate that the controller effectively regulates the system to a standstill position, ensuring smooth movement to the desired position under muddy road condition.