Modelling and robust μ-synthesis control of an intelligent self balancing two-wheel vehicle

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

A non-linear dynamic model is developed for a new type of two-wheel vehicles (B2). The B2 has two wheels side by side actuated via two DC motors and commanded through a controller card using a joystick. The vehicle can carry up to two passengers at a time. A first effort has been made to formulate a suitable set of requirements to be followed during the design phase. On the basis of such requirements, a reference linear dynamic model of the B2 has been derived. Then, a model matching H, control problem has been solved via the μ-synthesis approach, which allows disturbance rejection and robustness specifications to be taken into account. Finally, the designed control laws have been evaluated numerically both for the loaded and unloaded vehicle cases. The controller performed well even under maximum uncertainty and perturbation conditions.

Original languageEnglish
Pages (from-to)293-302
Number of pages10
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Volume220
Issue number4
DOIs
Publication statusPublished - 2006
Externally publishedYes

Fingerprint

vehicle wheels
Vehicle wheels
dynamic models
Dynamic models
controllers
vehicles
requirements
Controllers
passengers
DC motors
Disturbance rejection
cards
synthesis
wheels
Robustness (control systems)
rejection
specifications
Wheels
disturbances
direct current

Keywords

  • μ-synthesis
  • Robust control
  • Two-wheel vehicle

ASJC Scopus subject areas

  • Computational Mechanics
  • Mechanical Engineering
  • Mechanics of Materials

Cite this

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