Study On Fuzzy Sliding Control For Two-wheel Self-balanced Vehicle

The two-wheel self-balanced vehicle is a special kind of wheeled mobile robot,which is an ideal platform to study certain control methods because of its dynamics characteristic, such as multi-variable, non-linear, strong-coupling, uncertain-parameter, etc.After concluding and summarizing the current research status of the two-wheel self-balanced vehicle, this paper designs the software and hardware of the two-wheel self-balanced vehicle, analysis on system structure,non-linear mathematics model are also be given. Then, by analyzing the principle,characteristic,the reason why vibration is generated and weakened of sliding mode VSC(Variable-Structure Control), this paper proposes two kinds of new VSC controllers, one based on adaptive regulation of reaching law, the other based on generalized kalman filter, and applies them in the two-wheel self-balanced vehicle. The simulation results show that the improved methods weaken vibration obviously.At last, with the combination of the merits of sliding mode VSC and fuzzy control, this paper designs a sliding mode controller based on fuzzy control, which adjusts the switch gain of sliding mode VSC in real time by using fuzzy logic. The simulation results show that this controller can decrease chattering effectively and has robustness to load disturbance and system parameters change.