Design and Implementation of Two-Wheeled Mobile Robot by variable structure Sliding Mode Control

被引：0
|
作者：
Hang Zheng [1 ]
Wang Li [1 ]
Li Lihua [1 ]
机构：
[1] Wuhan Univ Sci & Technol, Informat Sci & Engn Sch, Wuhan 430081, Peoples R China
来源：
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年
关键词：
Variable Structure Sliding Mode Control; Switching Function of the Sliding Surface; Two-Wheeled Robot;
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：
This paper presents a variable structure sliding mode controller with a switching function of the sliding surface for the balance and trajectory tracking of a two-wheeled robot. Newton's law of motion method is used to construct the dynamic model of the designed two-wheeled robot such that the tracking controller can be synthesized using for the sliding mode control. A switching function of the sliding surface is designed and employed to eliminate the buffeting phenomenon. Simulations and real-time experiment results show that the proposed variable structure Sliding Mode Controller is capable of providing satisfactory trajectory tracking and balance performance.
引用
收藏
页码：5869 / 5873
页数：5
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