Abstract
Tri-star wheel is characterized by being able to climb a stair in addition to the stability during translation. In this report, we propose a nonlinear controller for climbing a robot using two-wheeled robot. First two types of mathematical model are described, and then a nonlinear controller for climbing a stair is proposed. The controller is switched, rotational angle control until a certain posture and then damping control, employing state linearization technique together with integral sliding mode control to provide robust performance against model uncertainly and disturbance. Finally, numerical simulation shows the effectiveness of the designed controller.
