Design and Implementation of Sliding Mode Variable Structure Controller for Bicycle Robots
A coordinated motion control scheme is crucial for the precise and stable motion of intelligent unmanned robots.A high-order slid-ing mode control scheme combining fixed time convergence and adaptive disturbance compensation is proposed for the independent balancing problem of reaction wheel unmanned bicycles.This scheme can be widely applied to problems such as actuators that consider amplitude and rate constraints.Firstly,considering the overall design,a fixed time fast convergence sliding mode controller is adopted for the power drive of the reaction wheel unmanned bicycle.At the same time,a high-order sliding mode disturbance observer is designed to compensate for the un-modeled parameter terms and external disturbances.Then,the stability proof of the closed-loop control system is given based on Lyapunov functions.In practical scenarios,verification experiments were conducted,and the proposed scheme showed a performance improvement of 5%to 30%compared to other sliding mode control methods,especially in terms of dynamic driving error RMSE reaching 0.003 1 rad,indicat-ing that the controller can be stable and effective during driving.
reaction wheel unmanned bicycleindependent balancedisturbance observerhigher-order sliding mode control
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