文章基本信息

标题：On the stability of two-wheeled vehicle balancing passive human subjects
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作者：Balazs A. Kovacs ; Gabor Stepan ; Zaihua Wang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：337-342
DOI：10.1016/j.ifacol.2018.11.564
语种：English
出版社：Elsevier
摘要：AbstractA two-wheeled vehicle balancing a passive inverted pendulum is analyzed based on an experimental device. The corresponding mechanical model is a wheeled double pendulum, where only the position of the lower pendulum is measured. The sampling effect of the digital control is modeled as a zero-order hold. It is shown that the stabilization of the upright position is possible by proper choice of the control parameters as function of the sampling period of the controller. The model can be applied to analyze the behavior of wheeled vehicles with passive human subjects standing on it. The results are demonstrated on small-scale experimental realization of the system.
关键词：Keywordswheeled inverted pendulumstabilitydigital control