关键词：光机电；机器人；拉格朗日动力学；状态反馈控制；状态观测器
摘 要：Two-wheeled self-balanced robot based on the inverted pendulum model belongs to the category of the wheeled robots and it shares many characters with inverted pendulum,which are nonlinear,strong coupling,multi-variable and parameter uncertainty.Because there are many methods to keep this unstable robot self-balanced,this kind of robot has become an ideal platform to verify various kinds of control theories.In this paper,the two-wheeled robot is built on LEGO NXT set and depends on the sensors like gyro,angle transducer to keep upright.The mathematic and kinetic model of the robot is established according to the Lagrangian Dynamics and state-space equation of the whole system is presented.At last,a kind of state feedback control with the state observer is set up to make the system closed and stable.