Stabilization of a self-balancing robot by energy shaping

The self-balancing robot is a mobile robot that can be classified as an underactuated mechanism, systems which challenging characteristics make them interesting from the point of view of control. In this work we present the design of a control law for the stabilization of a self-balancing robot by using a method based on energy shaping that does not requires to solve partial differential equations. We also present a stability analysis that includes the demonstration of local asymptotic stability of the desired equilibrium and experimental results show the performance of the proposed control law.