The Study On The Modeling And The Variable Structure Control For A Two-wheeled Unstable Vehicle

As a kind of natural unstable wheeled robot, the two-wheeled unstable vehicle has such characterise as many variables, non-linear, strong coupling, time-variation, uncertain parameters and so on, and is constained by the nonholonomic kinematics condition, so the control of nonholonomicsystem becomes difficult. Hence, the research of two-wheeled unstable vehicle and real-time control has a great significance.This paper introduced the development of the two-wheeled mobile robot, and based on it, which gave us a software and hardware project design about two-wheeled unstable vehicle, and achieved subsystem experiment of hard-platform. Then, showed the kinematic model,dynamic model of the two-wheeled unstable vehicle and the design of the controller. Then based on the linear state equation model, the controllabilty,observability,stability and singularity are analyzed, and the pole-configuration controller and three variable structure controllers(equal speed adience law,exponent adience law,norm sliding mode) were designed.Finaly by MATLAB simulation, under the exterior disturbance and parameter uncertainty, three variable controllers were compared with the pole-configuration each other, the norm sliding mode for the controller was better, at the main time , proved the validity and rationality of the variable structure controller...