Derivation of Nonlinear Mathematical Model of Two-Wheeled Inverted Pendulum

被引：0
|
作者：
Costandin, Marius [1 ]
Dobra, Petru [1 ]
机构：
[1] Tech Univ Cluj Napoca, Fac Automat & Comp Sci, Cluj Napoca, Romania
来源：
2017 21ST INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2017年
关键词：
two-wheeled inverted pendulum; D'Alembert's principle; system modelling;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper begins with a useful presentation of known theoretical mechanics concepts for obtaining the equations of motion for systems of rigid bodies with and without non-holonomic constraints, using D'Alembert's principle. Then the equations of motion of a two-wheeled inverted pendulum on a flat surface with non-sliding wheels are obtained, by using the presented theory. Finally the nonlinear dynamical system is linearized and a linear state feedback control law for multi-input systems is obtained. The nonlinear system is simulated and stabilized using the linear control law.
引用
收藏
页码：94 / 99
页数：6
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