Abstract
Using the method of Newtonian mechanics, the paper analyzes balance control problems of the self-balanced two wheeled cars, describes the detailed modeling process and simplifies it necessarily according to the needs of the control rate. It designs the full state feedback controller (LQR) and sliding-mode controller respectively, carries out the simulation and gets the ideal simulation curve. The comparisons of the simulation results show that the sliding-mode controller can get better performance than the full state feedback control in the control of the self-balanced two wheeled car.
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