Balance Control of an Unmanned Bicycle Based on Disturbance Observer and Non-Singular Terminal Sliding Mode Control
In order to realize the robust control of the unmanned bicycles under different terrain conditions,different loads and different speeds,a robust controller was designed by combining linear extended state observer and non-singular terminal sliding mode control,and a physical prototype experiment platform was built to verify its performance.Considering the linear variable parameter(LPV)model of unmanned bicycles,the coupling of handlebar dynamics to the lateral angle of the vehicle body is eliminated by using feedforward compensation.The internal parameter perturbation and external perturbation of the system are unified as lumped disturbances,and a linear extended state observer is introduced to construct an improved LPV model containing only the lateral inclination angle of the vehicle body.A non-singular terminal sliding mode surface function is constructed,and the equivalent control terms and nonlinear control terms of the controller are designed using the improved LPV model.The results of numerical simulation and physical prototype experiment show that the unmanned bicycle can realize self-balancing movement under four different fields:granite road surface,asphalt road surface,cement road surface and lawn road surface,and its lateral inclination angle can be stable in the range of[-0.006,0.006]rad.And it has strong robustness to load changes within 16.5 kg,speed variations of 1.2 to 2.4 m/s and the pulse interference generated when crossing the speed bump.The proposed method provides a new theoretical support for the control of unmanned bicycles and demonstrates its potential in practical application.
unmanned bicyclebalance controllinear variable parameter modellinear extended state observernon-singular terminal sliding mode control
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