Control Approaches for Complicated Self-Unstable Plants with Applications for Two-Wheel Mobile System

Abstract In this paper a model of autonomous mobile robot “Motobot” is described. There is the model of two-wheeled motorbike. The mathematical model of motion of two-wheeled single-track robot on the horizontal flat is analyzed and the automatic control algorithms are designed. Problem can be solved by controlling the steering wheel and the speed of the driving wheel.

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