Research on PID Linear Motion Control Strategy of Self-Balanced Two-Wheeled Vehicle

Abstract

Abstract. The self-balanced two-wheeled vehicle is a special kind of mobile robot, this typical under-actuated system is multivariable, nonlinear, strong coupling and parameter-uncertain; the structure characteristics is its small size, simple structure, less energy consumption, flexible movement. This paper selects Lagrange equation as dynamics modeling method for this tricyclic system, and determines the dual closed-loop PID as control scheme, finally completes the study of its linear motion control. By discussing the robustness, transient performance, steady-state performance of the system, this paper uses classical control theory to complete the dual closed-loop PID controller design and simulation with MATLAB / Simulink.

HFO-LADRC Lateral Motion Controller for Autonomous Road Sweeper

“…However, one fatal flaw in the LQR is that the algorithm is suitable for linear systems but is not convenient for nonlinear systems, except for making some hypotheses and even instability in high maneuver treatments [33,34]. As one of the traditional strategies that can be used independently of the accurate system model, proportion-integration-differentiation (PID) controllers are very prevalent [35,36]. Pouria et al embedded adaptive control with anti-windup compensators with a PID controller to conquer the challenge of model uncertainty and saturation in actuators [37].…”