Design of H<inf>2</inf> controller for stabilization of two-wheeled inverted pendulum

摘要

In this paper, an H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> control system is designed for the two-wheeled inverted pendulum robot (TWIP). The mathematical model is developed based on Lego mindstorm inverted pendulum-Legway and is used in order to facilitate the development of an efficient H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> controller for stabilizing the system. Finally the effectiveness and robustness of the H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> control is verified by simulations and is substantiated by comparing with the performance of LQR controller.