Abstract
When there is no driver, balancing the two-wheel vehicle is a challenging but fascinating problem. There are various solutions for maintaining the balance of a two-wheel vehicle. This article presents a solution for balancing a two-wheel vehicle using a flywheel according to the inverted pendulum principle. Since uncertainties influence the actual operating environment of the vehicle, we have designed a robust controller RH∞ to maintain the vehicle equilibrium. Robust controllers often have a high order that can affect the actual control performance; therefore, order reduction algorithms are proposed. Using Matlab/Simulink, we compared the performance of the control system with different reduced-order controllers to choose a suitable low-order controller. Finally, experimental results using a low-order robust controller show that the vehicle balances steadily in different scenarios: no-load, variable load, stationary, and moving.
Highlights
Bicycles have appeared in the world for centuries as a popular means of transport
After designing a robust controller, we propose using order reduction algorithms to reduce the order of the controller. e purpose of reducing the order of the controller is to make the control program code simpler and straightforward to practical applications while the system still meets the requirements of robust stability
Reducing Order of Controller. e requirement for the order reduction problem is that a low-order controller has the lowest possible order; the response of a control system using a low-order controller should match that of a control system using the 15th-order controller or the control system using a low-order controller ensures stability control for two-wheel vehicle
Summary
Bicycles have appeared in the world for centuries as a popular means of transport. Two-wheel vehicles (including bicycles, motorbikes, and electric bicycles) have the advantage of low fuel consumption, fast acceleration, flexibility, narrow parking space, low cost, and being suitable for limited road conditions in large cities. e most significant limitation of two-wheel vehicles is not being able to balance themselves like a car. E stabilizer using flywheel according to the principle of an inverted pendulum is proposed in [18,19,20,21,22,23] In this method, the rotation direction of the flywheel will be changed to create a force that balances the gravity of the vehicle to maintain the equilibrium state. To control the self-balancing two-wheel vehicle according to the inverted pendulum principle, there are various methods such as PD [20], PID [17,18,19], LQG and MPC [21], SMC [25,26,27], and robust control [11, 28,29,30,31,32,33,34,35,36,37,38].
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
