Optimal Control for Wheeled Inverted Pendulum Based on Collaborative Simulation

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The optimal control based on MATLAB is used to control wheeled inverted pendulum, and the control law is designed, and its feasibility is verified. However the mathematical model of the wheeled inverted pendulum is linearized and inverted pendulum is a high-order nonlinear system, both of them exist errors. Then the collaborative simulation of MATLAB and ADAMS is also used to control wheeled inverted pendulum, in which wheeled inverted pendulum is built up to virtual prototype model in ADAMS based on virtual prototype technology, and the control law designed from simulation of MATLAB is consulted. At last the results of simulation demonstrate the correctness of optimal control of wheeled inverted pendulum, and it also indicates the way is worth advocating in the study.