This thesis has studied the control problem concerning position and orientation control of self-balancing coaxial two
wheel robot based on the human simulated intelligent control (HSIC) theory. Adopting Lagrange equation, the dynamic
model of self-balancing coaxial two-wheel Robot is built up, and the Sensory-motor Intelligent Schemas (SMIS) of
HSIC controller for the robot is designed by analyzing its movement and simulating the human controller. In robot's
motion process, by perceiving position and orientation of the robot and using multi-mode control strategy based on
characteristic identification, the HSIC controller enables the robot to control posture. Utilizing Matlab/Simulink, a
simulation platform is established and a motion controller is designed and realized based on RT-Linux real-time
operating system, employing high speed ARM9 processor S3C2440 as kernel of the motion controller. The effectiveness
of the new design is testified by the experiment.
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