Adaptive Observer-Based Output Feedback Control for Two-Wheeled Self-Balancing Robot

Table 1

Parameters of the two-wheeled self-balancing robot.

Symbol	Name	Value (unit)
	Body weight including the loads	20.82 (kg)
	Mass of wheel	0.420 (kg)
	Mass of the chassis and wheels	15 (kg)
D	Distance between the contact patches of the wheels	0.438 (m)
	Length of the stem	0.715 (m)
R	Radius of wheel	0.09 (m)
	Gravity constant	9.8 ()