Study of Sliding Mode Control in Self-balancing Two-Wheeled Inverted Car

被引：0
|
作者：
Gao, Deyong [1 ]
Han, Pengwu [2 ]
Zhang, Daisheng [2 ]
Lu, Yongjie [2 ]
机构：
[1] Lanzhou Jiao Tong Univ, Deans Off, Lanzhou 730070, Peoples R China
[2] Sch Automat & Elect Engn, Lanzhou 730070, Peoples R China
来源：
INDUSTRIAL INSTRUMENTATION AND CONTROL SYSTEMS, PTS 1-4 | 2013年 / 241-244卷
关键词：
Self-balancing; Car; Feedback Control; Sliding Mode Control;
D O I：
10.4028/www.scientific.net/AMM.241-244.2000
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Using the method of Newtonian mechanics, the paper analyzes balance control problems of the self-balanced two wheeled cars, describes the detailed modeling process and simplifies it necessarily according to the needs of the control rate. It designs the full state feedback controller (LQR) and sliding-mode controller respectively, carries out the simulation and gets the ideal simulation curve. The comparisons of the simulation results show that the sliding-mode controller can get better performance than the full state feedback control in the control of the self-balanced two wheeled car.
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页码：2000 / +
页数：2
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