Research on Steering Balance Control of Two-wheeled Vehicles Under Large Time Delay

Abstract

Time lag is very common in real control systems and is more important in driverless intelligent single rutted two-wheeled vehicles. Time lag can lead to slower response of the control system to external changes, which can reduce the stability or even imbalance of the vehicle. Traditional control methods may not be directly applicable to systems with time lag, so special control strategies are needed to deal with the effects of time lag. In this paper, we build a non-time-lagged steering balance controller by analysing the dynamics model of an unmanned intelligent single rutted two-wheeled vehicle, and then control the time lag by using the improved Smith predictor, and finally verify the steering balance of the method under large time lag by MATLAB simulation.