Research Of Unstable Carrier By Intelligent And Variable Structure Control In Wide And Narrow-range Individually

The two-wheeled unstable vehicle is likely unstable robot in essence, which has characterise of many variables, non-linear, strong coupling, time-variation, uncertain parameters and so on. It has higher appreciated in analogy position and gesture of robot in controlling filed. For it belongs nonlinear system and the output is constained by the fact of condition, the research of two-wheeled unstable vehicle and real-time control has a great significance.Firstly, the development of the two-wheeled mobile robot is introduced, and then, the process of kinematic model is detailed briefly. As the result, state equation of non-linear and linear system is fined. At last, the model based on linear state equation is analyzed in performance in controllability observability and stability. The controllers which included pole-configuration controller and three variable structure controllers(equal speed adience law,exponent adience law,norm sliding mode) were designed.The controller of self-adapting neutral-fuzzy manipulate vehicle ,which is belongs to non-linear system, in bigger range. It's main function is draw vehicle to small angle range quickly. And then the norm sliding controller begin execute to control object. It reduce dependent of controller to model for fuzzy controller's merits. And norm sliding controller reduce waver produce by fuzzy controller in balance point. At important of all, both controlling strategies have strong robust in themselves fields.