Open AccessAttitude control of self-balancing vehicle based on sliding mode variable structure control
Author(s) -
Le Liu,
Xing Li-hua,
Zengqi Sun
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1884/1/012043
Subject(s) - control theory (sociology) , variable structure control , sliding mode control , robustness (evolution) , integral sliding mode , pid controller , nonlinear system , computer science , mode (computer interface) , controller (irrigation) , control engineering , engineering , control (management) , physics , temperature control , artificial intelligence , biochemistry , chemistry , quantum mechanics , operating system , agronomy , biology , gene
The two wheeled self balancing vehicle belongs to a typical nonlinear system. Aiming at the problem of attitude control stability of two wheeled self-balancing vehicle. A new sliding mode reaching law of integral sliding mode variable structure control was proposed. The feasibility and effetivenes of the controller are proved by theory and experiment. The experiment results show that the designed controller has remarkable advantages of steady state characteristic,fast dynamic response and strong robustness to external disturbance to compared with traditional PID controller.