H∞ Robust Control of Self-Balancing Two-Wheeled Robot.pdf

Proceedings of the 8th World Congress on Intelligent Control and Automation July 6-9 2010, Jinan, China H∞ Robust Control of * Self-Balancing Two-Wheeled Robot Xiaogang Ruan Jing Chen School of Electronic Information and Control Engineering School of Electronic Information and Control Engineering Beijing University of Technology Beijing University of Technology Beijing, China Beijing, China chenjing0828@emails.bjut.edu.cn To above equation, we propose γ0, there exist matrix P1 Abstract - According to movement balancing and position control and P , in which, P is symmetrical positive defined matrix. If 2 1 problem of Self-Balancing Two-Wheeled Robot, a method based the following inequation is satisfied: on H∞ Robust Control was proposed. We apply it onto the MIMO nonlinear model of robot, and simulated it in the ⎡ T T −2 T T ⎤ AP +P A +B P +(B P ) +γ B B (C P +D P ) MATLAB environment The simulation results shows that the ⎢ 1 1 2 2