Control of a two wheeled self-balancing mobile vehicle

In this thesis, control of two-wheeled self-balancing vehicles has been studied. Two-wheeled vehicles are an important area for the development of personal transportation systems. The mathematical model of the vehicle, which is designed based on principle of the inverted pendulum, is derived using the Lagrange method. And the mathematical model of the vehicle is simulated in the MATLAB / Simulink environment. As well as stability control of the unstable and nonlinear two-wheeled vehicle in the upright position, velocity and position control have been realized. Various control techniques such as PID, LQR, and Pole Placement design have been used and the performances of the controllers were compared. Particle Swarm and Artificial Immunity Optimization algorithms are used to find the most suitable control parameters for the system. According to the results, two techniques were compared.