Control for Wheeled Inverted Pendulums Using Sliding Mode Control
In the paper,two wheels controlled by two motors drive the movement of wheeled inverted pendulums while maintaining the self-balancing of pendulums in the two-dimensions.Firstly,for satisfying the requirement of control for wheeled inverted pendulums,the mathematical modeling is carried out so that MATLAB simulation of sliding mode control uses it.In addition,to improve the accuracy of simulation,the collaborative simulation of MATLAB and ADAMS is also used to control wheeled inverted pendulums,which is built up to virtual prototype model in ADAMS before imported to MATLAB.And state feedback control and optimal control are used to control wheeled inverted pendulums in these ways,and sliding mode control is compared with them,the objective of which is to comprehensively demonstrate the feature of sliding mode control of wheeled inverted pendulums.
wheeled inverted pendulums sliding mode control collaborative simulation ADAMS
Shi Xiang Xu Zhe
Mechanical Department, College of Engineering Science and Technology, Shanghai Ocean University, China
国际会议
天津
英文
351-356
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）