Advanced control of the mono axial vehicle with variable parameters

摘要

The Mono Axial Vehicle (MAV) mobile robot platform is two wheel chassis with ability to change of the position of the center of gravity. Our mathematical model brings a new approach to modelling of these types of vehicles. We developed one generalized mathematical model with generalized distance of the center of mass of the MAV. Thanks to this approach we are able to make controller synthesis much easier than before. We also deal with robustness of this controller and observer for the generalized distance of the center of mass of the MAV.