The Design of VSC with Disturbance Compensation Based on Two-wheeled Unstable Vehicle

摘要：

The chattering is inevitable in using Variable Structure Controller (VSC) to control two-wheeled unstable vehicle. Although the traditional methods which are improved the reaching law and the switching surface effectively impair the chattering, they impair the anti-interfering of VSC at same time. To solve this problem, the dynamic pseudo sliding mode control with disturbance compensation term is designed in this paper, which not only effectively impairs the chattering, but also improve the anti-interfering ability.

关键词： Two-wheeled Unstable Vehicle Pseudo Sliding Mode Disturbance compensation Chattering Anti-interfering

作者: Xiang-zhong Meng Xin-wen Liu Ya-jing He Jing Li Yu-heng Zhang

作者单位: Air Defense Forces Academy , Zhengzhou, 450052 P.R.China Xidian University, Xian, 710071 P.R.China Zhengzhou Lighting Management Bureau, Zhengzhou, 450052 P.R.China

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 2223-2227

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）