Abstract
In this research, the linear exponential quadratic Gaussian (LEQG) control proposed by Jacobson[1] is introduced into a control problem of Two-Wheeled Inverted Pendulum (TWIP) subject to random disturbances. The purpose of this research is to develop one of suitable controller for the TWIP subject to large random disturbances from the road environment. The mathematical model of the TWIP with random disturbance should be treated as a nonlinear system with random disturbances. The random disturbances are assumed to act at the bottom of the right and left wheels from the surface of the rough road. In this research, such random disturbances are modeled by the white Gaussian noises, mathematically. In order to deal with the nonlinearity of the mathematical model of the TWIP, the gain scheduling control technique is introduced for the LEQG controller. The performance of the controller for the stochastic TWIP system is demonstrated by performing several numerical simulation studies in a couple of random disturbance conditions, i.e. a large variance of random disturbance and a small variance of one. Furthermore, three types of reference trajectories were tried to trace in the numerical simulations.
