Determination of interactions between two-wheeled self-balancing vehicle and its rider

The paper presents a determination method of a quantitative and qualitative description of the interaction between two-wheeled self-balancing vehicle and its rider. This leads to the problem of finding parameters of a control law for the rider controlling system. The propose method is based on the comparison of experimental results with the computer simulation results. The mathematical model of the system vehicle-rider used during simulation contains qualitative mathematical form of interaction with unknown coefficients (in practice they estimate parameters of the rider). This unknown coefficients were obtained by the designation of matching function between the experimental data and the simulation data.