两轮自平衡小车模型参考自适应控制平衡算法-计算机工程与应用.PDF

258 2016 ，52（9 ） Computer Engineering and Applications 计算机工程与应用 两轮自平衡小车模型参考自适应控制平衡算法 范 敏，余 海，石为人，黄 杰 FAN Min, YU Hai, SHI Weiren, HUANG Jie 重庆大学 自动化学院，重庆 400030 School of Automation, Chongqing University, Chongqing 400030, China FAN Min, YU Hai, SHI Weiren, et al. Model reference adaptive control balance algorithm for two-wheeled self-balancing vehicle. Computer Engineering and Applications, 2016, 52 （9 ）：258-262. Abstract ：The two-wheeled self-balancing vehicle is a class of non-complete system of intrinsic instability. Its complex nonlinear dynamical equations include