An adaptive observer for two wheeled self-balancing robot with a varying center of mass

In this paper, an adaptive observer in the case of nonlinear parameterization is developed for the two wheeled self balancing robot. It is designed to estimate the unknown state as well as the body mass of the robot which influences the height of center of mass. Then, a PID control approach is used to generate the control input signals that are used by the adaptive observer. Finally, simulation results assert the performance of the designed observer for the two wheeled self balancing robot subject to mass variation.