Abstract
This paper presents an optimal controller design using three different algorithms for trajectory tracking of Two Wheeled Balancing Mobile Robot (TWBMR). All the proposed algorithms have been investigated through simulations under the influence of different inputs tracking and exogenous disturbance. This attempts to validate the significance of these algorithms in balance regulation and tracking trajectory. These algorithms are represented by PID-PID based parallel dual feedback , serial dual feedback and hybrid optimal control using Feed-forward PID and Feedback LQR. Simulation results are provided to demonstrate that, the hybrid controller can achieve a better robust performance in comparing to the other two design algorithms. The graphical user interface (GUI) software has been used to show the simulation results in more convenient way.