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论文类型：期刊论文

发表时间：2013-04-01

发表刊物：TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL

收录刊物：SCIE、EI、Scopus

卷号：35

期号：2

页面范围：212-218

ISSN号：0142-3312

关键字：Power exponent; sliding mode control; two-wheeled vehicle

摘要：A two-wheeled surveillance vehicle with the mass centre of the vehicle body below its configuration centre, which is different from the traditional structure design, is investigated in this paper. In order to avoid the vehicle body turning over, the output torque of each motor is set to a pre-calculated upper bound value. Because these bound constraints should be introduced on a dynamics level, sliding mode control is developed based on a power exponent approaching law to control the dynamic system with some robust properties. With this method, the control effects can be adjusted by regulating the corresponding parameters. To track a desired trajectory, another controller based on a kinematics level has also been designed on a special error space of the system. The simulation verifies the effectiveness of the proposed two-degree controller.