自行车机器人系统的稳定滑模控制  

Stable sliding mode control of bicycle robot system

作　　者：于秀丽[1] 魏世民[1] 郭磊[1] 

机构地区：[1]北京邮电大学自动化学院,北京100876

出　　处：《控制与决策》2011年第3期464-468,共5页Control and Decision

基　　金：北京邮电大学青年科研创新计划专项课题(2009RC0602);中央高校基本科研业务费专项资金项目.

摘　　要：基于拉格朗日方法建立自行车机器人动力学模型,针对自行车机器人这一非线性欠驱动系统,利用稳定滑模控制算法实现系统的稳定.该方法首先从各个子系统中取出一个变量组合成一个中间变量;然后从该中间变量出发构造滑模函数,从滑模控制器设计的角度求取控制量,保证中间变量在有限时间内收敛到平衡点,从而保证系统状态收敛到收敛域内.该方法能够保证自行车机器人系统的稳定性,并在仿真实验中得到了验证.Dynamic model of the bicycle robot is made by using method based on Lagrangian, which can realize non-linear under-actuated system of bicycle robot stable by using stable sliding-mode method control. In this method, each variable which is gotten from every subsystem＇s state variables combines an interim variable. Then one sliding mode function is constructed according to the interim variable. By using the sliding mode control method, the total control law can be obtained, which guarantees that the equilibrium point is reachable in finite time. Then the system＇s state variables converge to equilibrium field. The stability of bicycle robot can be guaranteed by using this method and is verified in the simulation experiment.

关 键 词：滑模控制 欠驱动系统 自行车机器人 稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]