基于LMI的两轮自平衡机器人控制器设计

摘要

针对两轮自平衡机器人系统，提出基于线性矩阵不等式的控制器设计方法。首先，采用状态空间模型对两轮自平衡机器人系统进行描述。然后，通过线性矩阵不等式进行控制器的设计，并通过Lyapunov函数证明该方法的有效性，分析了基于观测器的控制器存在条件。最后，通过仿真进一步验证了该控制方法的有效性。%This paper introduces a design of a controller based on linear matrix inequality ( LMI ) method to discuss the system of two-wheeled self-balanced robot. The design study is done by firstly is describing the system of two-wheeled self-balanced robot via state-space model;then using LMI method to design the controller and using Lyapunov function method to validate the method; and finally using the Matlab simulation experiment to prove the validity of the proposed method.