Modeling and robust attitude control of stationary self-sustaining two-wheeled vehicle

Stability of two-wheeled vehicles depends on their running speed. The running vehicle at high speed is stable but the vehicle in a state of stillness is unstable. In order to stabilize two-wheeled vehicles in the state of stillness, center-of-gravity movement and handle operation by the rider are indispensable. Then we develop a stationary self-sustaining two-wheeled vehicle which is a two-wheeled vehicle equipped with a cart system to move a center-of gravity of the vehicle for stabilizing the system. We derive a state space model of system based on Lagrange method and identified model parameters by control experiments. A robust attitude controller is designed via H_∞, Loop Shaping Design Procedure (LSDP). Experimental results show an effectiveness of the derived mathematical model and the designed robust attitude controller compared with LQ controller.