Stabilization of Motion of the Segway

This article is devoted to the stabilization of the segway model in the form of mechanical model. Model consists of a wheel with two-link inverted pendulum which is attached to the mechanism by a hinge. Connections between the links are tied by elastic coiling spring. The mechanism is driven by electromotor which rotates the wheels of the segway. Segway can be moved or rolled over the surface with the help of the same driver. The control parameters are the voltage of bounded source and the elastic coefficient of the coiling spring. Stabilization of region of attraction of the pendulum vertical position is controlled by manipulating the voltage and the elastic coefficient of the coiling spring.The aim of the research is to investigate effect of flexible body of the monocycle model to the region of attraction of pendulum vertical position. The considered work has researched and analyzed the planar motion of an inverted flexible pendulum mounted on a pair of wheel. The maximal area of attraction of upright position was obtained.