Research On Fuzzy Sliding Mode Control For Two-wheeled Self-balancing Vehicle

The two-wheeled self-balancing car is an important branch of today's robotics research field.It does not only have simple structure and rapid response,but also have the characteristics of instability,non-linearity,strong coupling and other characteristics,it is overwhelmingly suitable for the verification of various control algorithms.Therefore,the design of self-balancing trolley that has important meanings in theory and practical engineering.This paper studies the fuzzy sliding mode control algorithm applied to the two-wheeled self-balanced trolley.The main contents and solutions are as follows:(1)Mathematical modeling of the trolley,aiming at the dynamic model,adopting Newton mechanics method to the trolley system the wheel and car body are subjected to force analysis,and the state space equation of the car system is established.(2)The sliding mode controller based on the exponential reaching law is designed,and the Simulink model is established to verify the simulation.By analyzing the causes of chattering,the controller based on exponential reaching law is improved,and an adaptive sliding mode is proposed.The control algorithm shows that the chattering can be effectively reduced.(3)Combining the advantages of both the sliding mode control and the fuzzy control,the robustness of the weakened chattering and the enhanced structure is studied.An adaptive fuzzy sliding mode controller is designed and the fuzzy model is used to control the sliding mode.The switching gain is adaptively adjusted;the effect of the improved controller is verified considering the external interference and the parameter perturbation.The simulation results show that the system has good robustness and stability,and the overall control effect is optimized.(4)The control algorithm of the research was embedded into the physical model of the car,and the hardware and software tests were performed.The balance control of the car are implemented,and the effectiveness of the control algorithm is verified.In this paper,a self-adaptive fuzzy sliding mode controller for the research of the trolley system is completed and the relevant simulation experiments are completed.The simulation results show that the control strategy of the two-wheeledself-balancing trolley can indeed improve the stability and robustness of the system.