Study on the Control of a Two-wheeled Unstable Vehicle Based on Sensitivity Analysis

The two-wheeled vehicle has such characteristics as nonlinear and uncertain parameters. Finding out the influence of the interference and perturbation on its performance is very important, and the sensitivity can do this. We mainly study the vehiclepsilas state feedback. The problem is when parameters and poles are different, what will happen to the vehicle with the interference and process variations. In this paper, we firstly discuss the relationship between some parameters and sensitivity, and then we study how the poles position affects the sensitivity. These analyses provide us with suggestions that how to chose reasonable parameters and poles. Finally, we discuss the choice of the optimal controllerpsilas different matrix R and its relationship with sensitivity. And, we find that LQR can make the system have strong robustness.