Balance control algorithm research on nonlinear rolling wheel inverted pendulum system

In this paper, nonlinear system model of the rolling wheel inverted pendulum is derived. Based on the basic principles of the equilibrium point of nonlinear state feedback control parameter optimization algorithm, piece-wise state feedback control algorithm according to the angle changes of the pendulum is proposed. The simulation program and balance control instantiation of the rolling wheel inverted pendulum is implemented. And by comparing analysis, it is shown piece-wise state feedback method is effective in a larger nonlinear system state. Corresponding research provided conditions for practical application.