Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System
學年 108
學期 2
出版（發表）日期 2020-07-24
作品名稱 Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System
作品名稱（其他語言）
著者 Chien-Hong Lin; Fu-Yuen Hsiao
單位
出版者
著錄名稱、卷期、頁數 Applied Sciences 10(15), 5087
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.
關鍵字 proportional-integral sliding mode control;sliding mode control;two-wheel vehicle system;nonlinear system
語言 en_US
ISSN 2076-3417
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者 Fu-Yuen Hsiao
審稿制度 是
國別 CHE
公開徵稿
出版型式 ,電子版
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