Nonlinear dynamics modeling and simulation of two-wheeled self-balancing vehicle

Liu, Yunping; Huang, Xijie; Wang, Tianmiao; Zhang, Yonghong; Li, Xianying

doi:10.1177/1729881416673725

Cited by 9 publications

(5 citation statements)

References 22 publications

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“…The six degrees of freedom the ducted fan UAV model has 12 states when Euler angles are used to parameterize attitude. The model can be generated in the form of Poincare’s equation in this case 18…”

Section: Methodsmentioning

confidence: 99%

On dynamic characteristics and stability analysis of the ducted fan unmanned aerial vehicles

Chen

Dong

et al. 2019

International Journal of Advanced Robotic Systems

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This article researches the improvement of dynamics stability of the ducted fan unmanned aerial vehicles by optimizing its mechanical–structure parameters. The instability phenomenon of ducted fan unmanned aerial vehicles takes place frequently due to the complicated airflow in near-earth space, which easily leads to the stability problems, such as out of control, shaking, and loss accuracy of command tracking. The dynamics equations mirror its dynamics characteristics, which are primarily influenced by the mechanical–structure parameters of the whole system. Based on this, the optimization of mechanical–structure parameters has a significant to improve the dynamics stability of the whole system. Therefore, this article uses the concept of Lyapunov exponents to build the quantification relationship between system’s mechanical–structure parameters and its motion stability to enhance its stability from viewpoint of mechanical–structural parameter design. The takeoff, landing, and hovering stage are respectively studied and the conclusions suggest that the optimization of mechanical–structure parameters can be used to promote dynamics stability.

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Section: Methodsmentioning

confidence: 99%

On dynamic characteristics and stability analysis of the ducted fan unmanned aerial vehicles

Chen

Dong

et al. 2019

International Journal of Advanced Robotic Systems

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“…Relatively few scholars at home and abroad have studied piston manometer balancing control methods, but for quadrotors [4,5], inverted pendulums [6][7][8], balancing vehicles [9,10], permanent-magnet synchronous motors [11,12], and other such similar balancing systems, there are many modern control algorithms currently applied, such as proportional-integralderivative (PID) control [13][14][15], linear quadratic regulator control (LQR) [16,17], robust control [18,19], fuzzy control [20][21][22][23], adaptive control [24,25], sliding mode control [26][27][28], etc. Theoretically, the control methods applied to these equilibrium systems can also be applied to piston manometers.…”

Section: Introductionmentioning

confidence: 99%

Balancing Control of an Absolute Pressure Piston Manometer Based on Fuzzy Linear Active Disturbance Rejection Control

Wu,

Zhai,

Gao

et al. 2023

Actuators

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As an international standard pressure-measuring instrument, the absolute pressure piston manometer’s working medium is gas, so the actual working process will be affected by many internal uncertainties and external disturbances, leading to its long stability time and poor performance. In this paper, a fuzzy linear active disturbance rejection control strategy (FLADRC) for absolute pressure piston manometers is proposed to address these problems. First, the characteristics of the main components are analyzed according to the actual working principle of the system to establish a theoretical model of the controlled system. Second, the corresponding linear active disturbance rejection controller (LADRC) is designed according to the model. The principle of fuzzy control is introduced to adaptively adjust the controller parameters of the LADRC in real time, which improves the disadvantages of the LADRC parameters, which are difficult to rectify and have poor immunity to disturbances due to fixed parameters, and the stability of the control method is subsequently demonstrated. Finally, a simulation model is built in the Simulink environment in MATLAB, and three different pressure operating points are selected for the corresponding experiments to make a comparative analysis with Kp, PID, and LADRC. The results show that FLADRC enables the absolute pressure piston manometer to achieve better stability and greater immunity to disturbances. This also verifies the effectiveness and feasibility of the control strategy in practical engineering applications.

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“…In recent years, two-wheeled self-balancing (TWSB) vehicles have begun to be welcomed by more and more green-travel enthusiasts because they are not only energysaving and environmentally friendly, but also have the advantages of simple structure, flexible operation, and portability [1].…”

Section: Introductionmentioning

confidence: 99%

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

et al. 2020

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This paper investigates the controls of straight running and turning of a different-axis twowheeled self-balancing (DATWSB) vehicle. The inverted pendulum system (IPS) with gyroscopic effect is used to describe the uncertainty caused by the working conditions. Based on the generalized coordinate systems, the nonlinear mathematical model of the IPS is established according to Lagrange equation. The sliding mode controller (SMC) and adaptive sliding mode controller (ASMC) are respectively designed to control the system, in which the roll angle feedback is used. The simulation results of three models with/without the controllers are presented, which indicate that the ASMC can make the IPS recover upright faster in straight running, and better achieve the desired roll angle in turning compared with the SMC. Bikesim, a commercial software, is used to build a two-wheeled vehicle model with self-balancing function in combination with Matlab/Simulink. The results show that the ASMC can guarantee the anti-interference and turning abilities of the DATWSB vehicle. INDEX TERMS Different-axis two-wheeled self-balancing vehicle, gyroscopic effect, inverted pendulum, sliding mode control, adaptive sliding mode control.

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Nonlinear dynamics modeling and simulation of two-wheeled self-balancing vehicle

Cited by 9 publications

References 22 publications

On dynamic characteristics and stability analysis of the ducted fan unmanned aerial vehicles

On dynamic characteristics and stability analysis of the ducted fan unmanned aerial vehicles

Balancing Control of an Absolute Pressure Piston Manometer Based on Fuzzy Linear Active Disturbance Rejection Control

Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

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