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H∞ Time-Delayed Fractional Order Adaptive Sliding Mode Control for Two-Wheel Self-Balancing Vehicles.
- Source :
-
Computational Intelligence & Neuroscience . 8/10/2020, p1-12. 12p. - Publication Year :
- 2020
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
- Subjects :
- *SLIDING mode control
*HYPERSONIC planes
*CLOSED loop systems
*ALGORITHMS
*VEHICLES
Subjects
Details
- Language :
- English
- ISSN :
- 16875265
- Database :
- Academic Search Index
- Journal :
- Computational Intelligence & Neuroscience
- Publication Type :
- Academic Journal
- Accession number :
- 145072388
- Full Text :
- https://doi.org/10.1155/2020/4529131