Adaptive sliding mode attitude control of two-wheeled robots for planetary auxiliary: From theory to applications

Abstract

The value of two-wheeled robots in planetary auxiliary is significant, but their attitude control presents challenges due to their inherent characteristics and external environment conditions. To address this issue, this paper presents an adaptive sliding mode (SMC) control scheme of two-wheeled robots for planetary auxiliary. Firstly, a motion model specifically for two-wheeled robots that focuses on attitude control is established. Secondly, an adaptive reaching law was proposed based on the study (Wang et al. 2014). It improves upon the previous adaptive gain, and it can ensure stable operation when the improved adaptive gain converges to a small neighborhood of the origin. This effectively avoids the chattering phenomenon and guarantees that the sliding mode surface converges within a finite time. On this basis, an adaptive SMC attitude controller is developed, and its stability is proven using Lyapunov stability theory. Finally, comparative simulation experiments are conducted to verify the effectiveness, adaptability, superiority and robustness of the proposed control scheme. (A virtual simulation video generated by Simulink 3D Animation can be viewed onhttps://pan.baidu.com/s/1JxRR7vMyq9Cm-23YHFPnYA?pwd=5lf1)