The Research On The Application Of Two-wheeled Self-balancing Robot Based On Method Of Variable Structure Control

Sliding mode variable structure control theory appeared in the mid-centuryfirstly, its outstanding advantage has a good robust performance within theparameters perturbation and external interference, but it has inadequacies of jitterphenomenon. So the application premise of the variable structure theory isreducing the jitter.The two wheeled self-balancing robot is similar to the inverted pendulum inprinciple. This system has a certain amount of time-varying, multivariate,nonlinearity and parameter uncertainty. To a great extent, the changing of theenvironment, road conditions and car loading affect the properties of system inthe practical application of the process. In this paper, sliding mode variablestructure algorithms are studied based on the two wheeled self-balancing robot,and it is verified that the controller designed has good stability characteristics inthe real-time control.The foundation of sliding mode theory is firstly introduced in this paper, itintroduces the concept, basic principles and basic nature of the sliding modevariable structure. The displacement angle and turning system can be obtainedthrough mathematical modeling, linearization and decoupling. According to thetheory of sliding mode variable structure, the controller based on exponentialreaching law is designed. To improve this theory, quasi sliding mode controllerand adaptive sliding mode controller are designed. The control effect ofimproved controller under outside anti-interference ability and system parametersexamined by the MATLAB simulation of robot. Through the real-time control,the self-balancing robot was able to keep balance and swerve well, whichverified the feasibility of the algorithm.