文章基本信息

标题：Sliding mode control of a ball balancing robot ⁎
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作者：Ioana Lal ; Alexandru Codrean ; Lucian Buşoniu 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：9490-9495
DOI：10.1016/j.ifacol.2020.12.2424
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a sliding mode control design for a ball-balancing robot (ballbot), with associated real-time results. The sliding mode control is designed based on the linearized plant model, and is robust to matched uncertainties. The design is considerably simpler than other nonlinear control strategies presented in the literature, and the experimental results for stabilization and tracking show much better performances than those obtained with linear control (in particular, a linear quadratic regulator).
关键词：KeywordsControl applicationsmobile robotssliding mode controlrobust control