Controller design for two-wheeled self-balancing vehicles using feedback linearisation technique
by Ali Maddahi; Amir H. Shamekhi
International Journal of Vehicle Systems Modelling and Testing (IJVSMT), Vol. 8, No. 1, 2013

Abstract: Two-wheeled self-balancing vehicles have been extensively used because of their unique capabilities such as reducing the traffic problems and being environment friendly. The main challenge in these vehicles is to design robust controllers capable of creating smooth and safe movement. This paper focuses on design of such a controller using the feedback linearisation technique. The modelled system comprises of a single-link inverted pendulum, which simulates the rider's body, mounted atop a two-wheeled platform. While the base is being externally disturbed, the designed controllers guarantee the stability of the system and keep the rider along its equilibrium situation. In order to validate the effectiveness of proposed control schemes, some sets of simulation studies are carried out on different smooth and non-smooth surfaces. It is finally shown that besides having stability on smooth surfaces, the system behaves stably on non-smooth trajectories.

Online publication date: Mon, 25-Feb-2013

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Systems Modelling and Testing (IJVSMT):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com