Summary: | 碩士 === 國立臺灣海洋大學 === 電機工程學系 === 106 === This paper considers the design of sliding mode balancing controllers for four-wheeled inverted pendulum cars. We first present the dynamic equations of the studied four-wheeled inverted pendulum car. Then, the linearized dynamic equation can be obtained. Based on the obtained linear model, a sliding surface can be derived and a sliding controller can be developed. Finally, the validity of the proposed results is verified by simulations.
Keywords: Inverted pendulum, Sliding mode control, Matrix transformation techniques
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