二轮行走倒立摆系统建模与鲁棒方差控制

为了控制二轮行走倒立摆在保持摆杆稳定的同时在水平面上自由行走，首先应用动力学原理对其进行受力分析。建立整个系统的状态空间方程，并将该方程解耦分解成两个独立的子系统。在建模的过程中充分考虑系统中可能存在的不确定性以及噪声。然后在不确定模型的基础上，应用具有圆盘极点和反差约束的鲁棒控制算法来设计该系统的状态反馈控制律，使得闭环系统在噪声以及所有允许的不确定性的影响下，仍然能够保证较好的动态和稳态性能。仿真和实际应用均表明该方法是有效的。

Modeling of Dual-wheel Cart-Inverted Pendulum and Robust Variance Control

How to balance the Dual-wheel Cart-Inverted Pendulum and control its behavior is presented in this paper. By using dynamics theories, the pendulum is analyzed, and its state space equation has been established and decoupled into two independent subsystems. Some uncertain factors and noises in real system have also been thoroughly considered. A robust variance algorithm is proposed to design a state feedback controller based on the mathematical model and guarantee the system's performance under the condition of uncertainties and noises. This method has been proved to be applicable in both simulation and real system.