An improved computing model for a two-wheeled self-balancing vehicle´s state determination

Owing to the estimating accuracy of state variable for a two-wheeled self-balancing vehicle is not high in a transient status, this paper presents an improved computing model based on a simplified force model of a two-wheeled self-balancing vehicle. Experimental results show that the improved computing model reduces the estimating error of state variable for a two-wheeled self-balancing vehicle in a transient status.