Abstract
This chapter presents a unified method for designing nonlinear motion control software of traveling control by non-holonomic two-wheeled inverted pendulum mobile robots, where self-balancing control is designed with a backstepping approach. The work described in this chapter focuses on the design and implementation of control software based on the use of a specialized notation formally defined by Petri nets. The software generates motor torque inputs for traveling control based on self-balancing control with on-line elaboration of the posture angle of the inverted pendulum. While traditional techniques offer limited support for validating control software design before producing final code, the proposed notation is easy to use in the specific controller design and it benefits from validation techniques available for Petri nets.
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