Dynamic Modeling and Sliding Mode Controller Design of a Variable Structure Two-Wheeled Robot

被引：0
|
作者：
Xing, Bin [1 ]
Guo, Lei [1 ]
Wei, Shimin [1 ]
Song, Yuan [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100876, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA) | 2016年
基金：
北京市自然科学基金; 中国国家自然科学基金;
关键词：
Variable Structure Two-Wheeled Robot; Appell Equation; Sliding Mode Controller;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A dynamic model and a sliding mode controller are researched based on a new type variable structure two-wheeled robot in this paper. Firstly, the structure of the robot is designed according to the movement characteristics. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the robot is obtained based on Appell Equation. Thirdly, a sliding mode controller for the bicycle mode of the robot is designed and simulated for the track-stand motion. The simulation results prove that the controller based on the sliding mode control theory can meet the control requirements and has good robustness.
引用
收藏
页码：1635 / 1640
页数：6
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