@article{ref1,
title="Design low-order robust controller for self-balancing two-wheel vehicle",
journal="Mathematical problems in engineering",
year="2021",
author="Vu, Ngoc Kien and Nguyen, Hong Quang",
volume="2021",
number="",
pages="e6693807-e6693807",
abstract="When there is no driver, balancing the two-wheel vehicle is a challenging but fascinating problem. There are various solutions for maintaining the balance of a two-wheel vehicle. This article presents a solution for balancing a two-wheel vehicle using a flywheel according to the inverted pendulum principle. Since uncertainties influence the actual operating environment of the vehicle, we have designed a robust controller RH∞ to maintain the vehicle equilibrium. Robust controllers often have a high order that can affect the actual control performance; therefore, order reduction algorithms are proposed. Using Matlab/Simulink, we compared the performance of the control system with different reduced-order controllers to choose a suitable low-order controller. Finally, experimental results using a low-order robust controller show that the vehicle balances steadily in different scenarios: no-load, variable load, stationary, and moving.<p /> <p>Language: en</p>",
language="en",
issn="1024-123X",
doi="10.1155/2021/6693807",
url="http://dx.doi.org/10.1155/2021/6693807"
}