Robust control of two-wheeled bicycle robot under wind disturbance

摘要

The two-wheeled bicycle robot (TWBR) is a new intelligent transportation, which can be used for special tasks such as forest operation and disaster relief. Although the TWBR is not structurally complex, the dynamics are very complex to model. It is extremely difficult to build an accurate mathematical model. Wind disturbance is, in principle, always present on open roads and influence on the driving stability increases. Aiming at mathematical modeling error caused by mass center of the TWBR frame and external disturbance caused by wind force, this paper introduces a suitable control method. Firstly, the Kane method is adopted for modeling. Secondly, robust control can provide stability and performance guarantee for both uncertainty and disturbance. Finally, the results of simulation and physical experiment show the effectiveness of the robust H<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> control for TWBR. In this paper, MATLAB/Simulink is used to establish a combined mathematical model of wind force as an experimental external disturbance. The robust H<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller based on linear matrix inequality (LMI) and Linear quadratic regulator(LQR) are realized. It is verified that the robust H<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller has better effectiveness than the LQR controller when facing the uncertainty and external disturbance.