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H∞ Time-Delayed Fractional Order Adaptive Sliding Mode Control for Two-Wheel Self-Balancing Vehicles
Joint Authors
Xue, Han
Fang, Qionglin
Zhong, Jifeng
Shao, Zhe-ping
Source
Computational Intelligence and Neuroscience
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-10
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
In this paper, a time-delayed fractional order adaptive sliding mode control algorithm is proposed for a two-wheel self-balancing vehicle system.
The closed-loop system is proved based on the Lyapunov-Razumikhin function.
The switching function is designed to make the system robust when facing uncertainties and external disturbances.
It is designed to avoid monotonically increasing gains and can handle state-dependent uncertainties without a prior bound.
The two-wheel self-balancing vehicle used in the experiment consists of a gyroscope MPU-6050 and accelerometer, a motor driving circuit composed of a motor driving chip TB6612FNG, and STM32F103x8B that is selected as the control core.
The experimental results show that the time-delayed fractional order adaptive sliding mode control algorithm can make the vehicle achieve autonomous balance and quickly restore its stable state while appropriate disturbance is introduced.
American Psychological Association (APA)
Xue, Han& Fang, Qionglin& Zhong, Jifeng& Shao, Zhe-ping. 2020. H∞ Time-Delayed Fractional Order Adaptive Sliding Mode Control for Two-Wheel Self-Balancing Vehicles. Computational Intelligence and Neuroscience،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1138755
Modern Language Association (MLA)
Xue, Han…[et al.]. H∞ Time-Delayed Fractional Order Adaptive Sliding Mode Control for Two-Wheel Self-Balancing Vehicles. Computational Intelligence and Neuroscience No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1138755
American Medical Association (AMA)
Xue, Han& Fang, Qionglin& Zhong, Jifeng& Shao, Zhe-ping. H∞ Time-Delayed Fractional Order Adaptive Sliding Mode Control for Two-Wheel Self-Balancing Vehicles. Computational Intelligence and Neuroscience. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1138755
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1138755