Design Low-Order Robust Controller for Self-Balancing Two-Wheel Vehicle

Ngoc Kien Vu and Hong Quang Nguyen

Mathematical Problems in Engineering, 2021, vol. 2021, 1-22

Abstract:

When there is no driver, balancing the two-wheel vehicle is a challenging but fascinating problem. There are various solutions for maintaining the balance of a two-wheel vehicle. This article presents a solution for balancing a two-wheel vehicle using a flywheel according to the inverted pendulum principle. Since uncertainties influence the actual operating environment of the vehicle, we have designed a robust controller RH ∞ to maintain the vehicle equilibrium. Robust controllers often have a high order that can affect the actual control performance; therefore, order reduction algorithms are proposed. Using Matlab/Simulink, we compared the performance of the control system with different reduced-order controllers to choose a suitable low-order controller. Finally, experimental results using a low-order robust controller show that the vehicle balances steadily in different scenarios: no-load, variable load, stationary, and moving.

Date: 2021
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2021/6693807.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2021/6693807.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6693807

DOI: 10.1155/2021/6693807

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().