Two-wheeled self-balancing mobile robot dynamic model and balancing control

Aiming to the two-wheeled self-balancing mobile robot system with high-rank,unstable,multi-variable,strongly coupling,complicated dynamic nonlinear property,this paper established the dynamic model applied Lagrange program,and carried on the stability and the controllability judgment to it.Based on this model,using LQR and the Dragon Bergh extreme disposition method carried on the control to the two-wheeled self-balancing mobile robot in the posture and the speed,and obtained the stable dynamical balance process.Listed some material steps at establishing the mathematics model,and used above two methods to do the simulation research and the comparison separately.It indicates through the simulation experiment that the two control method to the robot stable control all are effective.Dragon Bergh extreme disposition control method causes the system that the track speed to be quicker,the stability is higher,and it has the high practical application value.