| Summary: | 碩士 === 國立臺灣科技大學 === 自動化及控制研究所 === 99 === Two-wheeled has a simple structure, low cost and easy control so that it is regarded
as a popular research. However, two-wheeled inverted pendulum robot is an inherently
unstable system, it needs controller to meet the basic requirement, such as, balance and
movement.
The study of two-wheeled inverted pendulum robot is based on modern control
with state feedback. The robot cannot move steadily while adding unknown payload
result in system parameters changed.
In order to overcome the above problem, using Auto-regressive moving average
model to build the parametric model in discrete time for updating the system parameters
(including mass, inertial of moment and the center of gravity, etc.) By updating the
system parameters to adjust the control gain from pole-placement controller to enhance
its robustness. In the end, using experiments to very its performance.
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