| In recent years, the theory and application research of nonholonomic mobile robot has gained more and more attention in the control community. Any mechanical system with wheeled mobile driving device belongs to the category of nonholono-mic robots, such as lorry,so it has a broad application background. On the other size, this kind of system has such characteristics as many variables, non-linear, strong coupling, time-variational, uncertain parameters and so on, and is constrained by the nonholonomic kinematics condition, so the control of nonholonomic system becomes very difficult. Hence, the research of robust control of mobile robot and real-time control has a great significance in areas of theory and application. As a kind of natural unstable wheeled mobile robot, the self-balanced two-wheel vehicle is gained more and more attentions.Based on the project development with the purpose of constructing research laboratory and the layout of the laboratory's job, the self-balanced two-wheel vehicle apparently is a perfect experimentation platform in the control theory and technique research. First, this paper introduced the development of the self-balanced two-wheel vehicle, and based on it, which gave us a software and hardware project design about self-balanced two-wheel vehicle, and achieved subsystem experiment of hard-platform. Secondly, show a kinematics model and dynamical model of a self-balanced two-wheel vehicle system and establish the system mathematics model in three stations, Based on this model, the control ability and observation ability are analyzed and depended on this conclusion, the finally sliding method of linear variable structure control is used to design the adjusted controller. Finially, simulink by Matlab, compare with the state feedback controller in the external random disturbance and parameter uncertainty stations and proved the validity and rationality of the variable structure controller. |
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