Research on developed parallel two-wheeled robot and its control system

摘要

The parallel two-wheeled robot is a natural instability body, like traditional inverted pendulum, so it is necessary to use very effective control means to make it stabilize. The study on parallel two-wheeled robot emphasizes on walking balance control technology. In the paper the system configuration and mathematic modelling of the prototype are described. According to linear system theory, the state-feedback controller is designed based on Matlab simulation, and the stability of system is also proven by the simulation results. Finally, the validity and rationality of the system modelling and the designed controller are confirmed through the actual moving tests of the prototype.