The Modeling And Control Of Two-wheeled Self-balanced Inverted Pendulum Robot

Two-wheeled self-balanced inverted pendulum robot system becomes a good platform to verify the control algorithm with strong-nonlinearity,multiple variables and natural instability.The structural features of wheel inverted pendulum such as small volume,simple structure and flexibility,make it work well in a small or a relatively dangerous place.It can carry things,and has lower energy consumption.Because of its dynamic characteristics and its widespread application background,the research of two-wheeled self-balancing inverted pendulum robot system has been brought to more attentions.The wheel inverted pendulum has been studied,including the problems of balance and speed tracking.Firstly,mathematical modeling has been established with Newton mechanics.Then nonlinear model is decomposed into balance forward subsystem and steering subsystem.As research priorities,the balance forward subsystem is controlled by double power reaching law,and the response curve of the system has some buffeting by way of the simulation experiment.In order to reduce buffeting,reaching law has been improved by the introduction of the boundary layer.The system stability is achieved,the buffeting is reduced,and the systematic balance control is realized.The speed tracking of wheel inverted pendulum is studied.The sliding surface is defined as a weighted combination of the position-tracking error and the velocity-tracking error.The systematic control law has been got by sliding mode landing conditions.Uncertainty and external interference model are taken into account in the controller design process.Finally,system simulation proves that the nonlinear sliding mode controller can achieve speed tracking of wheel inverted pendulum.