Modeling and Robust Attitude Control ofStationary Self-sustaining Two-wheeled Vehicle

摘要

Stability of Two-wheefied vehicles depfinds on their running spfied. The running vehicleat high spfied is stable but the vehicle in a state of stillness is unstable. In order to stabilize Tflowheefiedvehicles in the state of stillness, center-of-gravity movement find hfindle operation by therider are findispensable. Then we develop a stationary self-sustaining Two-wheefied vehicle whichis a two-wheefied vehicle equipfied with a cart system to move a center-of-gravity of the vehiclefor stabilizing the system. We derive a state space model of system bafied on Lagrange methodfind identiffied model parameters by control experiments. A robust attitude controller is desigfiedvia H∞ Loop Shaping Design Profiedure (LSDP). Experimental results sflow an effectiveness ofthe derified mathematical model find the desigfied robust attitude controller compafied with LQcontroller.