变结构控制在两轮平衡小车中的应用

通过给出一种两轮平衡小车系统受非完整约束的动力学模型,基于此模型,利用变结构控制找出了滑模超平面,并设计出了该系统的调节控制律.经过Matlab/Simulink仿真,然后通过变结构控制器和状态反馈控制器的比较,得出此系统变结构的鲁棒性较好.进而通过实践验证,小车可控并可观,表明用该方法设计的控制器能够完成我们的预期目标.

Applications of Variable Structure Controls in the Balanced Bi- wheel Vehicles

This paper shows a dynamical model of a balanced biwheel Vehicle system without full restricted.Based on the model,a gliding hyperplane is found by using a variable structure control,and the adjusted rule is designed.Simulinked by matlab,then comparing the variable controller with a state feedback controller,the robustness of the system is better.By practice,the balanced bi-wheel vehicle is controllable and considerable,this proves that the controller using variable structure control method can achieve expected goal.