Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System

doi:10.3390/app10155087

淡江大學機構典藏 > 工學院 > 航空太空工程學系暨研究所 > 期刊論文 > Item 987654321/118992

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題名:	Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System
作者:	Lin, Chien-Hong;Hsiao, Fu-Yuen
關鍵詞:	proportional-integral sliding mode control;sliding mode control;two-wheel vehicle system;nonlinear system
日期:	2020-07-24
上傳時間:	2020-07-28 12:10:13 (UTC+8)
出版者:	MDPI
摘要:	A balance control method, the proportional-integral sliding mode control (PISMC), is proposed to control the tilt attitude of an experimental two-wheel vehicle system (TWVS). Based on our previous work of implementing a generalized PISMC to control a linearized dynamical system, this paper extends the algorithm to a wider range: First, the control design of a weighted-control system is proposed. Secondly, our algorithm was realized and verified in a TWVS using its original nonlinear model. Thirdly, a systematical way to tune parameters are presented. The robustness of the proposed algorithm is also discussed in this paper. The simulation results of this work validate that the PISMC has better robustness to counteract the external disturbances than the conventional sliding mode control (SMC) does. Additionally, the experimental results show that the PISMC is capable of autonomously balancing the TWVS more effectively than the conventional SMC. The successful implementation of our algorithm potentially extends the implementation of the PISMC to various nonlinear and emerging systems.
關聯:	Applied Sciences 10(15), 5087
DOI:	10.3390/app10155087
顯示於類別:	[航空太空工程學系暨研究所] 期刊論文

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