Study on the Control of a Two-wheeled Unstable Vehicle Based on Sensitivity Analysis

摘要：

The two-wheeled vehicle has such characteristics as nonlinear and uncertain parameters. Finding out the influence of the interference and perturbation on its performance is very important, and the sensitivity can do this. We mainly study the vehicles state feedback. The problem is when parameters and poles are different, what will happen to the vehicle with the interference and process variations. In this paper, we firstly discuss the relationship between some parameters and sensitivity, and then we study how the poles position affects the sensitivity. These analyses provide us with suggestions that how to chose reasonable parameters and poles. Finally, we discuss the choice of the optimal controllers different matrix R and its relationship with sensitivity. And, we find that LQR can make the system have strong robustness.

关键词： unstable vehicle sentivity analysis parameters LQR

作者: Yanzhao Li Shengli Qu Jiahui Zhu Jianqin Sun

作者单位: SMEE of Xidian University Xian,China

会议类型: 国际会议

会议名称: The Fifth International Conference on Information Assurance and Security(第五届信息保障与安全国际会议)

会议地点: 西安

会议语种:英文

页码: 762-765

在线出版日期: 2009-08-18（万方平台首次上网日期，不代表论文的发表时间）