Design Of Self-balancing Two-wheeled Vehicle And Research On Its Variable Structure Control

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 nonholonomic robot, such as truck, so it has a broad application background. In this paper, the object is unstable nature of self-balancing two-wheeled robot, its dynamic system with multi-variable, non-linear, strong coupling, time-varying, and parameters of uncertainty. As Environmental Movement complex and equations of motion of non-integrity constraint, its control is a complex task, requiring the completion of balance control, path planning and path tracking at the same time. This paper studies the unstable nature of self-balanced two-wheeled robot is a complex experimental device, has become an ideal control theory and the experimental control technology platform.This paper focuses on dynamic control of the unstable nature of self-balancing two-wheeled vehicle and R & D of hardware as software. Through analyzes and profits the composition of the self-balancing two-wheeled vehicle from the domestic and foreign, Design of the two-wheeled self-balanced vehicle in the hardware and software, and detailed analysis hardware parameters deriving the perspective of the largest controllable. Introduction of the mathematical model of the system, based on this model of system stability, controllability and observability analysis. Application of Variable Structure Control theory on the unstable nature of self-balancing two-wheeled vehicle to the conditions of the limited angle, design synovial Variable Structure Controller based on Reaching Law and traditional pole configuration controller. By simulation results show that the disturbance in the system and the presence of perturbation parameters, the system performance to meet the design requirements.