Research On Two-wheeled Self-balancing Vehicle Control System Methodology Based On Sliding Mode Control Theory

With the development of society,vehicle as the most common means of transportation has become a necessity of life.However,the corresponding problems of environment,energy and traffic are also getting worse.Promotion of electric vehicles currently becomes the most effective solution for solving the above problems.Two-wheeled self-balancing vehicle(TWSBV)as a new electric vehicle has attracted people's attention due to its characteristics of simple structure,low production cost,flexible movement,etc.The TWSBV is a typical second-order underactuated system,whose controllable degree of system freedom is higher than the number of actuators,i.e.only two control inputs are required to achieve three control objectives,which makes the realization of excellent control performance more difficult.In addition,large external disturbances also cause the system unstable.In order to simultaneously realize the balance control,velocity control and steering control of the TWSBV,this dissertation divides the system into the longitudinal motion subsystem and the steering motion subsystem.Then,this dissertation presents the design and implementation of hierarchical sliding mode controller(HSMC)with perturbation estimation technology(PET)on the TWSBV to simultaneously realize balancing and real-time velocity tracking control purposes,in which the PET is used for online estimation of system interference and feedforward compensation for HSMC to improve system robustness.Meanwhile,a sliding mode controller(SMC)is proposed for steering motion subsystem to achieve excellent steering control performance.Finally,both the simulation results and experimental results show that the proposed HSMC-PET and SMC has more excellent motion control performance(that is,balance control,velocity control,steering control)and robustness as compared with HSMC and linear feedback controller.