TY  - JOUR
PY  - 2021//
TI  - Design low-order robust controller for self-balancing two-wheel vehicle
JO  - Mathematical problems in engineering
A1  - Vu, Ngoc Kien
A1  - Nguyen, Hong Quang
SP  - e6693807
EP  - e6693807
VL  - 2021
IS  - 
N2  - 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>
LA  - en
SN  - 1024-123X
UR  - http://dx.doi.org/10.1155/2021/6693807
ID  - ref1
ER  -