The Study On The Variable Structure Control For A Two-wheeled Unstable Robot Carrier

As carriers of robots ,two-wheel vehicles have unparallel advantages in terms of robot positioning and posturizing , which is obviously earned at cost of additional complexity.For further research, physical experimental equipments of robot carriers are established and then simulation and structure optimizing based upon mathematics models have been finished with collaboration of classmates. This text involves variable structure control(VSC) in the robot motion control and does research in the following aspects: separating the motion control from the balance control in the light of overall control demands; discussing the relationship between the transfer for chattering from the sliding surface to output state variables and the designing of sliding surface parameters; probing into the problems of the space vector decomposition in the VSC systems , with the aim of preserving the robustness and eliminating the chattering and as well as a feasible way.The traditional ways to eliminate the chattering are all at cost of decreasing the system robustness which is unwanted. The methods described in this text overcome the obstacles so effectively that it will prompt the engineering applications of VSC.