Study On Sensitivity Analysis And Comparison With Control Algorithm Of A Two-wheeled Unstable Vehicle

The natural unstable two-wheeled vehicle is a special kind of wheeled mobile robot, and also is an example of complex system. Its dynamics equations are multi-variable, non-linear, strong coupling, parameters of uncertainty and so on. The environment in which the vehicle moves is complicated, so is the control task that needs to finish balancing, path-planning and path-tracking at the same time. Therefore, the two-wheeled vehicle is an ideal platform for testing and learning various control methods. System sensitivity is a theory for studying the effect of uncertainty parameters on system performance. It is necessary to study the two-wheeled vehicle with sensitivity analysis.There are several key points in this paper. Firstly, through analyzing and profiting the composition of the two-wheeled unstable vehicle from the domestic and foreign, hardware and software of the two-wheeled unstable vehicle are designed. Secondly, in the aspect of structural parameters, the effect is analyzed about the vehicle mass and center of mass on the system robustness. Thirdly, by studying and comparing, linear model obtained around the balanced point with Taylor linearization is the same as fuzzy linear method. We can also get the linear model by the nonlinear feedback linearization method. The control systems are designed with the two linear models. And obviously the latter has better robustness. Fourthly, the linear model around the balanced point is obtained by series approximation linearization method. We analyze the sensitivity on the system with poles assigned control, optimal control, variable structure control and fuzzy control. Based on the above analysis, a combinational controller is designed, which contains optimal control and variable structure control. And the controller not only expands the scope of the car effetely, but also makes the system robustness.