Electronic Science and Technology ›› 2019, Vol. 32 ›› Issue (7): 49-55.doi: 10.16180/j.cnki.issn1007-7820.2019.07.010

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Research Progress on Modeling and Control of Two-wheeled Self-Balancing Vehicle

XIONG Yucong1,ZHANG Meng1,2,WEI Dazhong1,2   

  1. 1. Beijing Institute of Control Engineering, Beijing 100089,China
    2. Beijing SunWise Space Technology Ltd, Beijing 100089,China
  • Received:2018-07-17 Online:2019-07-15 Published:2019-08-14
  • Supported by:
    Transverse project of Beijing Institute of Control Engineering and Beijing SunWise Space Technology Ltd(1DZZ20170002)


The two-wheeled self-balancing vehicle is a sort of bike-like vehicle, which can keep balance under action of external torque. Compared with common vehicles, the two-wheeled self-balancing vehicle has been characterized by high safety, environmental friendliness, light shape and convenient driving and has become the major trend of intelligent vehicle development. The study of balance of the two-wheeled vehicle date from the end of 19th century. And now, great achievements have been made both in the theoretical research and modeling. In this paper, the development status of two-wheel self-balancing vehicle in lateral dynamics modeling, actuators and control algorithms were discussed and summarized, and the future research directions were further prospected.

Key words: two-wheeled vehicle, self-balancing control, lateral dynamic, driving mechanism, attitude control, control algorithm

CLC Number: 

  • TP13