Dynamic Modeling And Intelligent Control Of A Variable Two-wheeled Robot

Two-wheeled vehicle has been widely used in our daily life. With the popularity of miniature high-speed chip in recent years, many advanced con-trol algorithms have been applied in the daily transport vehicles, so scholar in the world pay close attention to the researches of the control strategy for two-wheel robot increasingly. From the point of control theory, two-wheeled vehicle is a kind of underactuated system. It is better than the general system in terms of energy consumption, cost control and structure minimization as the characteristic of fewer independent controlled quantities. It's difficult to design the two-wheel robot motion controller, because of the incoordination between the system controlled quantities and the degree of freedom.The research object of this paper is a kind of variable structure two-wheel robot with three kinds of stable movement patterns such as Bicycle mode, Seg-way mode and Monocycle mode. The structure design, kinematic analysis and dynamic modeling as regards the robot are accomplished. On this basis, the re-searches about motion control and system parameter identification are studied.Firstly, the system structure of the variable structure two-wheeled robot is analyzed, and the kinematic analysis is accomplished. After that the dynamic model is constructed based on Appell Equations.Secondly, the controllers are designed for Bicycle mode and Segway mode respectively. The controllers designed for Bicycle mode include the stand mo-tion controller based on the sliding mode control theory and circular motion controller based on LMI robust control theory. And the two balance controller for Segway mode is designed base cascade sliding control theory and RBF neu-tral networks.Thirdly, the system parameter identification experiment based on Hopfield neutral networks is accomplished.Lastly, the experimental prototype is constructed, and the control system and PC monitoring software are designed.