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Robotics
Volume 15
Issue 6
10.3390/robotics15060110
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

A Hybrid Master–Slave Fuzzy Cascade Control Strategy for Two-Wheeled Self-Balancing Robot with Wheel Synchronization

by
Irving Mora-González
1,
Edson E. Cruz-Miguel
1,
Trinidad Martínez-Sánchez
1,
Zayra E. Santos-Flores
2,
Ricardo Rojas-Galván
3,
Omar A. Barra-Vázquez
1,
Ce T. Méndez-Ramírez
4,
Roberto V. Carrillo-Serrano
3 and
José R. García-Martínez
1,*
1
Laboratorio de Control y Robótica, Facultad de Ingeniería en Electrónica y Comunicaciones, Universidad Veracruzana, Poza Rica 93390, Mexico
2
Facultad de Ingeniería Mecánica y Eléctrica, Universidad Veracruzana, Poza Rica 93390, Mexico
3
Facultad de Ingeniería, Universidad Autónoma de Querétaro, Santiago de Querétaro 76010, Mexico
4
Dirección General del Área Académica Técnica, Universidad Veracruzana, Veracruz, 91000, Mexico
*
Author to whom correspondence should be addressed.
Robotics 2026, 15(6), 110; https://doi.org/10.3390/robotics15060110 (registering DOI)
Submission received: 24 April 2026 / Revised: 23 May 2026 / Accepted: 29 May 2026 / Published: 31 May 2026
(This article belongs to the Section Intelligent Robots and Mechatronics)
Versions Notes

Abstract

Two-wheeled self-balancing robots exhibit nonlinear and inherently unstable dynamics due to their inverted-pendulum structure, making control design challenging under terrain variations and external disturbances. This paper proposes a hybrid master–slave fuzzy cascade controller with an additional wheel-synchronization loop to improve tracking performance and robustness. The architecture combines a master velocity PI loop with fuzzy-tuned integral action and a slave balance PD loop with fuzzy proportional control, while a differential synchronization mechanism compensates for motor mismatches without affecting the global balance dynamics. Local stability is analyzed through linearization and equivalent gain approximation within a sector-bounded framework. Experimental validation was conducted on an ESP32-based TWSBR under flat, uphill, and downhill conditions at reference velocities of 0.15, 0.20, and 0.30ms, including payload tests with additional masses of 0.279 and 0.375kg. For each scenario, 30 independent trials were performed to compute the reported metrics. Compared with a conventional PID controller, the proposed strategy reduced the flat-terrain velocity RMSE from 0.0108 to 0.0057ms, while also improving angular stabilization and robustness under slope and payload disturbances.
Keywords: two-wheeled self-balancing robot; hybrid fuzzy control; cascade control; nonlinear systems; trajectory tracking; actuator asymmetry; wheel synchronization two-wheeled self-balancing robot; hybrid fuzzy control; cascade control; nonlinear systems; trajectory tracking; actuator asymmetry; wheel synchronization

Share and Cite

MDPI and ACS Style

Mora-González, I.; Cruz-Miguel, E.E.; Martínez-Sánchez, T.; Santos-Flores, Z.E.; Rojas-Galván, R.; Barra-Vázquez, O.A.; Méndez-Ramírez, C.T.; Carrillo-Serrano, R.V.; García-Martínez, J.R. A Hybrid Master–Slave Fuzzy Cascade Control Strategy for Two-Wheeled Self-Balancing Robot with Wheel Synchronization. Robotics 2026, 15, 110. https://doi.org/10.3390/robotics15060110

AMA Style

Mora-González I, Cruz-Miguel EE, Martínez-Sánchez T, Santos-Flores ZE, Rojas-Galván R, Barra-Vázquez OA, Méndez-Ramírez CT, Carrillo-Serrano RV, García-Martínez JR. A Hybrid Master–Slave Fuzzy Cascade Control Strategy for Two-Wheeled Self-Balancing Robot with Wheel Synchronization. Robotics. 2026; 15(6):110. https://doi.org/10.3390/robotics15060110

Chicago/Turabian Style

Mora-González, Irving, Edson E. Cruz-Miguel, Trinidad Martínez-Sánchez, Zayra E. Santos-Flores, Ricardo Rojas-Galván, Omar A. Barra-Vázquez, Ce T. Méndez-Ramírez, Roberto V. Carrillo-Serrano, and José R. García-Martínez. 2026. "A Hybrid Master–Slave Fuzzy Cascade Control Strategy for Two-Wheeled Self-Balancing Robot with Wheel Synchronization" Robotics 15, no. 6: 110. https://doi.org/10.3390/robotics15060110

APA Style

Mora-González, I., Cruz-Miguel, E. E., Martínez-Sánchez, T., Santos-Flores, Z. E., Rojas-Galván, R., Barra-Vázquez, O. A., Méndez-Ramírez, C. T., Carrillo-Serrano, R. V., & García-Martínez, J. R. (2026). A Hybrid Master–Slave Fuzzy Cascade Control Strategy for Two-Wheeled Self-Balancing Robot with Wheel Synchronization. Robotics, 15(6), 110. https://doi.org/10.3390/robotics15060110

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