Abstract
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.
Highlights
This paper presents a controller called the proportional-integral sliding mode controller (PISMC).The sliding mode control (SMC) has been widely accepted as an efficient method for the tracking or balance control of an uncertain nonlinear system
This paper extends the design of PISMC controller to a weighted-control system from the work in [19]
This paper presents a generalized proportional-integral sliding mode control (PISMC) method and the design of the associated controls
Summary
This paper presents a controller called the proportional-integral sliding mode controller (PISMC). The proposed PISMC combines the proportional sliding mode control (PSMC). In [20], robust integral sliding mode control (ISMC) was proposed for an underactuated rotary hook system in order to deal with parametric uncertainties presenting themselves in the system’s parameters. Differently from the commonly known ISMC, PISMC, and PID sliding surface, which usually each have the sliding surface of s = k p e + k I edτ + k d ė + k1 e(0) + k2 ė(0) and five parameters or more to tune, our algorithm in [19]. The corresponding control to stabilize the TWVS was derived based on the proposed PISMC algorithm, and tested in experiments. Discussion of experimental results and a conclusion are provided to demonstrate the validity of our proposed algorithm
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