关键词: 两轮自平衡小车, 模型参考自适应控制, 鲁棒性

Abstract: The two-wheeled self-balancing vehicle is a class of non-complete system of intrinsic instability. Its complex nonlinear dynamical equations include many characteristics, such as higher order, strong coupling, less driving. This paper uses Newtonian mechanics to model the two-wheeled self-balancing vehicle, and constructs an adaptive mechanism by feedforward, feedback and inputs. Based on them, this paper presents a model reference adaptive control（Model Reference Adaptive Control, MRAC） strategy to control the posture and speed of the two-wheeled self-balancing vehicle. Simulation results show that the MRAC algorithm can ensure the stability of the system and make the system approach to the dynamic performance of ideal reference model. Meanwhile it makes the system obtain favorable robustness near the equilibrium point.

Key words: two-wheeled self-balancing vehicle, model reference adaptive control, robustness