A Robust Control Method of Two-Wheeled Self-Balancing Robot

摘要：

The research on two-wheeled self-balancing robot has gained momentum over the last decade at research, industrial and hobby level around the world. This paper deals with the modeling of twowheeled self-balancing robot and the design of Sliding Mode Control (SMC) for the system. The mathematical model of two-wheeled self-balancing robot system which is highly nonlinear is derived. The final model is then represented in state-space after decoupling ignorance of the rotation. A robust controller based on Sliding Mode Control is proposed to perform the robust stabilization and disturbance rejection of the system. A computer simulation study is carried out to access the performance of the proposed control law.

关键词： sliding mode control two-wheeled self-balancing robot control theory

作者: Junfeng Wu Yuxin Liang Zhe Wang

作者单位: College of Automation Harbin University of Science & Technology Harbin,China

会议类型: 国际会议

会议名称: The 6th International Forum on Strategic Technology(IFOST 2011)(第六届国际战略技术论坛)

会议地点: 哈尔滨

会议语种:英文

页码: 1031-1035

在线出版日期: 2011-08-22（万方平台首次上网日期，不代表论文的发表时间）