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基于拉格朗日方法建立自行车机器人动力学模型,针对自行车机器人这一非线性欠驱动系统,利用稳定滑模控制算法实现系统的稳定.该方法首先从各个子系统中取出一个变量组合成一个中间变量;然后从该中间变量出发构造滑模函数,从滑模控制器设计的角度求取控制量,保证中间变量在有限时间内收敛到平衡点,从而保证系统状态收敛到收敛域内.该方法能够保证自行车机器人系统的稳定性,并在仿真实验中得到了验证.
Based on the Lagrange method, a dynamic model of a bicycle robot is established, and a stable sliding mode control algorithm is used to stabilize the system, which is a nonlinear underactuated system of a bicycle robot. The method first takes a variable from each subsystem and combines them into a middle Then the sliding mode function is constructed from the intermediate variable, and the control variable is obtained from the design of the sliding mode controller to ensure that the intermediate variable converges to the equilibrium point in a finite time, so as to ensure that the system state converges into the convergence region. Guarantee the stability of the bicycle robot system, and have been verified in the simulation experiment.