Open Access

ARTICLE

Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force

Van-Truong Nguyen^1,*, Dai-Nhan Duong¹, Dinh-Hieu Phan¹, Thanh-Lam Bui¹, Xiem HoangVan², Phan Xuan Tan³

1 Faculty of Mechatronics, SMAE, Hanoi University of Industry, Hanoi, 159999, Vietnam
2 Faculty of Electronics and Telecommunications, Vietnam National University–University of Engineering and Technology (VNU-UET), Hanoi, 10000, Vietnam
3 College of Engineering, Shibaura Institute of Technology, Tokyo, 135-8548, Japan

* Corresponding Author: Van-Truong Nguyen. Email: