Abstract In order to increase the mobility and dynamic agility of a two-wheeled self-balancing vehicle, a dynamic posture control strategy for the initial state transition is proposed in terms of a well-planned nonlinear reference trajectory. The dynamic trajectory planning for the underactuatedmobile inverted pendulum is conducted by solving a two-point boundary value problem with the constraint equation of internal dynamics. The restriction of the offline trajectories for real-time applications is relaxed by establishing a semi-online planning method by assuming velocity-controlled missions. For the transition tasks requiring high maneuver motions including quick start and stop and quick speed change, the proposed control scheme is profitable to stabilize the initial transient motion and get over the performance limit of the conventional feedback-only control with typical step reference inputs. As a result, it enables to achieve consistent state transition to the target velocity and requires just minimal control efforts.

中文翻译：

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基于半在线动态轨迹规划的欠驱动两轮自平衡车鲁棒过渡控制

摘要 为提高两轮自平衡车的机动性和动态敏捷性，基于规划良好的非线性参考轨迹，提出了一种初始状态转换的动态姿态控制策略。欠驱动移动倒立摆的动态轨迹规划是通过求解具有内动力学约束方程的两点边值问题进行的。通过假设速度控制任务建立半在线规划方法，放宽了对实时应用程序的离线轨迹的限制。对于需要高机动动作的过渡任务，包括快速启动和停止以及快速变速，所提出的控制方案有益于稳定初始瞬态运动并克服具有典型阶跃参考输入的传统仅反馈控制的性能限制。因此，它能够实现到目标速度的一致状态转换，并且只需要最少的控制工作。