Genetic algorithm based modeling and control of a two wheeled vehicle with an extended rod, a Lagrangian based dynamic approach

摘要

This work carries out design and implementation of a PID control algorithm utilizing genetic algorithm as an optimization technique for a novel design of a two-wheeled vehicle with an extended rod. The vehicle design offers an additional feature to the conventional inverted pendulum on two wheels. The intermediate body (IB) of the vehicle is composed of two co-axial parts connected by a linear actuator and with a payload attached to the end of the upper part. The linear actuator allows the payload to move up and down along the IB of the vehicle. Considering the various positions, speeds and different sizes of a payload, carried by the vehicle, while maintaining the entire vehicle balanced is the main challenge of the current study. Dynamic modeling of the system is based on utilizing Lagrangian formulation to drive the system equations of motion.