Dynamic balance control of two-wheeled self-balancing pendulum robot based on adaptive machine learning

摘要

To solve the problem of balance control in dynamic movement of two-wheeled self-balancing pendulum robot, a dynamic balance control method based on adaptive machine learning is proposed based on theoretical analysis of the cause of balance. Firstly, a kinematics model of two-wheeled self-balancing pendulum robot is established. Through numerical calculation and analysis, the root cause for dynamic balance of two-wheeled self-balancing pendulum robot is obtained. On this base, adaptive machine learnings are proposed to control the dynamic balance of two-wheeled self-balancing pendulum robot. The possible lateral movement of robot caused by dynamic balance control is analyzed. Finally, balance simulation test is conducted, which shows that the robot can easily lose balance and overturn without adaptive machine learning. The comparison of simulation test has verified that the proposed dynamic balance control method can effectively control the dynamic balance of two-wheeled self-balancing pendulum robot.