Research on the controller of two-wheeled self-balanced vehicle based on the sensitivity analysis

Abstract

The two-wheeled self-balancing vehicle is a typical complex system with multi-variable, nonlinear and strong coupling, parameter uncertainty and so on. Therefore, the two-wheeled vehicle is an ideal platform for testing and learning various control methods. And system sensitivity is a theory for studying the effect with uncertainty parameters to system performance. Use the theory, this paper optimizes the important parameter of the vehicle and analyses the LQR controller. Simulation and experimental results show that the controller based on sensitivity analysis is robust.