Control of Different-Axis Two-Wheeled Self-Balancing Vehicles

This paper investigates the controls of straight running and turning of a different-axis two-wheeled self-balancing (DATWSB) vehicle. The inverted pendulum system (IPS) with gyroscopic effect is used to describe the uncertainty caused by the working conditions. Based on the generalized coordinate systems, the nonlinear mathematical model of the IPS is established according to Lagrange equation. The sliding mode controller (SMC) and adaptive sliding mode controller (ASMC) are respectively designed to control the system, in which the roll angle feedback is used. The simulation results of three models with/without the controllers are presented, which indicate that the ASMC can make the IPS recover upright faster in straight running, and better achieve the desired roll angle in turning compared with the SMC. Bikesim, a commercial software, is used to build a two-wheeled vehicle model with self-balancing function in combination with Matlab/Simulink. The results show that the ASMC can guarantee the anti-interference and turning abilities of the DATWSB vehicle.