两轮自平衡机器人的无源控制器设计

摘要

For two-wheeled self-balanced robot, the passivity-based controller is designed based on state-space model by using LMI. The sufficient condition is derived which keeps two-wheeled mobile robot balanced. Simulink result indicates that the passivity-based controller is effective to keep two-wheeled mobile robot balanced.%以两轮自平衡机器人为研究对象，基于其状态空间模型，利用线性矩阵不等式的方法，设计两轮自平衡机器人平衡的无源控制器，并给出了两轮自平衡机器人无源控制器存在的充分条件。仿真结果表明，设计的无源控制器对于机器人的平衡是有效的。