Data-Driven Control for Self-Balancing Two-Wheeled Scooter
Mahmood Fadaei, Mohammad Mehedi Hassan, Peyman Setoodeh, Mohammad Esmaeli · 2022 10th RSI International Conference on Robotics and Mechatronics (ICRoM) · 2022
Self-balancing two-wheeled scooter is a nonlinear and unstable system and its stabilization is an interesting problem. The goal is to prevent the system from falling on the ground. This problem is similar to inverted pendulum stabilizing problem and many methods have been developed for stabilizing this system. In this paper we use a liner model of the system and for applying our method we discretize the system using zero-order hold method. Then we use a data-driven method to design a state feedback controller for stabilizing the system and analyze the method.