Research on the controller of Two-wheeled self-balanced Vehicle Based on the sensitivity analysis

被引：0

作者：

Meng, Xiang-zhong ^{[1
]}

Li, Yan-zhao ^{[2
]}

Liu, Xin-wen ^{[1
]}

Xie, Fang-ming ^{[1
]}

Wang, Qiang ^{[1
]}

机构：

[1] Air Def Forces Acad, Zhengzhou, Henan, Peoples R China

[2] China Nucl Power Engn Co Ltd, Zhengzhou, Henan, Peoples R China

来源：

PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012) | 2012年

关键词：

two-wheeled self-balanced vehicle; parameters; sensitivity; LQR controller; robustness;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The two-wheeled self-balancing vehicle is a typical complex system with multi-variable, nonlinear and strong coupling, parameter uncertainty and so on. Therefore, the two-wheeled vehicle is an ideal platform for testing and learning various control methods. And system sensitivity is a theory for studying the effect with uncertainty parameters to system performance. Use the theory, this paper optimizes the important parameter of the vehicle and analyses the LQR controller. Simulation and experimental results show that the controller based on sensitivity analysis is robust.

引用

页码：2833 / 2837

页数：5