ROBUST CONTROL FOR COAXIAL TWO-WHEELED ELECTRIC VEHICLE

Abstract

This paper investigates robust motion pilot control of a coaxial two-wheeled electric vehicle (CTWEV) where the feedback control system is solely based on the angle of inclination without using any velocity information. H∞ control is employed to design a robust stabilizing controller. The proposed scheme involves an electronic differential steering algorithm to pilot the CTWEV via a joystick. Finally, evaluation examples and simulations are provided to demonstrate the effectiveness of the system