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Liu, X.C. (2008) Design of Self-Balancing Two-Wheeled Vehicle and Research on Its Variable Structure Control. Master’s Degree Thesis, Xidian University, Xi’an.

has been cited by the following article:

• TITLE: Research on Double Cascade Control Algorithm for Self-Balancing Two-Wheeled Vehicle

  AUTHORS: Qingqing Zhang

  KEYWORDS: Cascade Control, Kalman Filter, Fuzzy Control, PID Algorithm

  JOURNAL NAME: Journal of Applied Mathematics and Physics, Vol.4 No.4, April 13, 2016

  ABSTRACT: To solve the problem of self-balancing two-wheeled vehicle, this article presents double cascade PID control algorithm. This method reduces the coupling of balance control, speed control and direction control, because of the special system structure. This article successfully solved the sensor fusion of gyroscope and accelerometer by using Kalman filtering algorithm, and adding in fuzzy PID algorithm to improve the flexibility of the steering system, thus greatly improving the accuracy and response rate of the system.