Research On Adaptive Fuzzy Sliding Mode Control Algorithm Of Two-Wheeled Self-balancing Robot

Two-wheeled self-balancing robot is an important component of the wheeled mobile robot, it has a simple structure, can move flexibly and being widely used in industrial automation, danger elimination, military, agriculture, services, and other fields. Meanwhile, two-wheeled self-balancing robot is a control system with natures of nonlinear, strong coupling, multivariable and unstable. It is an ideal platform for various testing control algorithms. So the research on two-wheeled self-balancing robot can have both practical value and theoretical significance.Firstly, based the domestically and abroad researches of two-wheeled self-balancing robot, the research content of this dissertation is confirmed. The dynamical model is set up by using Newton mechanics, then the system nonlinear mathematical model is obtained, linear processing and decoupling are conducted afterwards, then applicability of 2-DOF model controller on 3-DOF is deduced and verified, and the system performance is analyzed.Secondly, exponential approach law is adopted to design the sliding mode controller and conduct the afterwards simulation. Results show that the chattering exists in the sliding mode variable structure. So this paper designs an adaptive fuzzy sliding mode controller which achieves a better the control performance. Specifically speaking, under the consideration of model error and real-time interference, the switching gain of the sliding mode controller can be fuzzy adaptive adjusted. At the same time when switching the gain of fuzzy control, the output weigh of fuzzy system can be self-adaptive adjusted. Therefore the designed controller can increase the speed of sliding mode function into the stable sliding mode surface and alleviate the chattering effectively.Finally, the validity of the designed controller is verified through simulation experiment of displacement, dip angle and rotation angle. And The controller can achieve the real-time self-balancing control of the two-wheeled self-balancing robot made by Googol when initial angle and additional outer disturbance exists within one second.