两轮自平门衡车轨迹跟踪控制关键技术研究-车辆工程专业毕业论文.docxVIP

两轮自平衡车轨迹跟踪控制关键技术研究Research 两轮自平衡车轨迹跟踪控制关键技术研究 Research on for a Two-wheeled Self-balancing Vehicle Traj ectory Tracking Key Technology Abstract 跨乃eeled inverted pendulum(WIP)vehicles have became widely available and continuously received much attentions in intelligent transportation，space exploration and domestic service，owing to its small size，simple structure，high mobility，and low energy characteristies．At the same time，as the advanced form of inverted pendulum system，the motion control of the WIP vehicle has a significant research value for the robotics and related control fields．When appli