MODELLING AND CONTROL OF TWO-WHEELED VEHICLE WITH EXTENDABLE INTERMEDIATE BODY ON AN INCLINED SURFACE

摘要

This paper addresses the modeling and simulation of anovel two-wheeled vehicle with an extendableintermediate body on an inclined surface. The vehicledesign offers an additional feature to the conventionalinverted pendulum on two wheels. The intermediate bodyof the vehicle is composed of two co-axial partsconnected by a linear actuator and with a payloadattached at the end of the upper part. The linear actuatorallows the payload to move up and down along the IB ofthe vehicle. Lagrangian modeling is used to derive andpresent the dynamic model of the vehicle. The developedmodel is a multi-input multi-output (MIMO) type withhighly nonlinear and coupled dynamics. A controlstrategy is developed and implemented in MatlabSimulink [1]. Simulations and results showing successfulcontrol of the systems are presented in the paper.