Dynamic Modeling and Sliding Mode Controller Design of a Two-wheeled Self-balancing Robot

被引：0
|
作者：
Yuan, Song [1 ]
Lei, Guo [1 ]
Bin, Xing [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Automat Sch, Beijing 100876, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION | 2016年
关键词：
Two-wheeled robot; Dynamic modeling; Appell Equation; Sliding mode; Self-balancing;
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 two-wheeled self-balancing robot is analyzed in this paper. The dynamic model of this robot is presented based on Appell Equations. The model is divided into two separate subsystems: balance subsystem and direction subsystem, and sliding mode controllers for each subsystem is designed separately. Computer simulation of the controller is taken with Matlab/Simulink. Simulation results show that the designed controller can track the ideal displacement and yaw angle effectively, and make the pitch angle stable at the meanwhile. It indicates that the designed controller for two-wheeled self-balancing robot have a fast convergence speed and a strong anti-interference ability, and is effective.
引用
收藏
页码：2437 / 2442
页数：6
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