Control of Two Wheeled Inverted Pendulum （两个轮式倒立摆的控制）.pdfVIP

Nguyen Thanh Phuong, Ho Dac Loc, Tran Quang Thuan / International Journal of Engineering Research and Applications (IJERA) ISSN: 2248-9622 Vol. 3, Issue 3, May-Jun 2013, pp.1276-1282 Control of Two Wheeled Inverted Pendulum Using Silding Mode Technique Nguyen Thanh Phuong, Ho Dac Loc, Tran Quang Thuan Ho Chi Minh City University of Technology (HUTECH) Vietnam Abstract In this paper, a controller via sliding back to the origin of the moving base. However, the mode control is applied to a two-wheeled inverted stability of this control scheme cannot be assured. pendulum, which is an inverted pendulum on a On the other hand, there are many mobile cart carrying two coaxial wheels. The literatures on sliding mode control theory, which is controller is developed based upon a class of one of the effective nonlinear robust control nonlinear systems whose nonlinear part of the approaches. Juergen et al. [4] designed a sliding modeling can be linearly parameterized. The mode controller based on Ackermann’s Formula. tracking errors are defined, then the sliding Their simulation results prove that the mobile surface is chosen in an explicit form using inverted pendulum can be balanced by this controller . Ackermann’s formula to guarantee that the There is no tracking controller. So tracking controller tracking error converge to zero asymptotically. of mobile inverted pendulum is deeply needed. The control law is extracted from the