Research on PID Linear Motion Control Strategy of Self-Balanced Two-Wheeled Vehicle

Abstract:

Abstract. The self-balanced two-wheeled vehicle is a special kind of mobile robot, this typical under-actuated system is multivariable, nonlinear, strong coupling and parameter-uncertain; the structure characteristics is its small size, simple structure, less energy consumption, flexible movement. This paper selects Lagrange equation as dynamics modeling method for this tricyclic system, and determines the dual closed-loop PID as control scheme, finally completes the study of its linear motion control. By discussing the robustness, transient performance, steady-state performance of the system, this paper uses classical control theory to complete the dual closed-loop PID controller design and simulation with MATLAB / Simulink.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1679-1683
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1679
• Online since: May 2013
• Authors: Ying Li, Da Zheng Wang, Xiao Hua Zhang, Peng Bo Bian
• Keywords: Lagrange, Modeling Simulation, PID, Self-Balanced Two-Wheeled

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