两轮不平衡小车变结构控制抖振与鲁棒性研究

为了进一步减小两轮不平衡小车在变结构控制过程中产生的抖振,同时保留系统滑模的鲁棒性,针对反馈线性化得到的小车系统的线性模型,首先基于饱和函数准滑模指数趋近率,以常规切换面为基础设计动态切换面准滑动模态控制器.该控制器有效地削弱了系统的抖振,但也削弱了系统的鲁棒性;然后通过给趋近律中加入扰动跟踪项设计出带扰动跟踪项的动态...

Research on chattering and robustness of VSC based on two-wheeled unstable vehicle

In order to impair the chattering effectively and remain the robustness of the sliding-mode in the variable structure control(VSC),a new control is presented in this paper that based on feedback linearization model.At first,dynamic sliding mode control using exponentional reaching law with saturation function is designed by changing the conventional switching surface with dynamic switching surface,this control strongly impair the chattering,but the problem is that the robustness of the system is also impair...