Abstract
In the paper, we present a method of synthesizing the controller with optimum energy for two-wheeled self-balancing vehicles, based on the multi-purpose consumption function. The authors select the multi-purpose consumption function based on the quasi-optimality and minimum of energy. The synthesis of control laws based on the analytical design of aggregated controllers (ADAR) with manifold of quasi-optimality. The results of the proposed method are simulated and compared to other methods.
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