On modelling and control design for self-balanced two-wheel vehicle

Nguyen Hoang Quang

Abstract


In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller.

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DOI: https://doi.org/10.15625/0866-7136/30/3/5615

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