Dynamic modeling and sliding mode controller design of a variable structure two-wheeled robot

Abstract

A dynamic model and a sliding mode controller are researched based on a new type variable structure two-wheeled robot in this paper. Firstly, the structure of the robot is designed according to the movement characteristics. Secondly, the vector velocity of each components of the robot is expressed. And the dynamic model of the robot is obtained based on Appell Equation. Thirdly, a sliding mode controller for the bicycle mode of the robot is designed and simulated for the track-stand motion. The simulation results prove that the controller based on the sliding mode control theory can meet the control requirements and has good robustness.