| Popis: |
According to the mechanical structure and operation principle of differential-drive two-wheeled robot, and aiming at the nonlinear systems with uncertainties variable structure, a trajectory tracking model based on sliding mode control (SMC) was designed by utilizing state vector to establish the model of system and controller. The simulating results show that robot can track line, circle and S shape trajectories well, which gave reasonable dynamic responses, adjustment performance, as well as perfect disturbance rejection. The system can eliminate errors according to the deviation from sliding surface by switching the structure of controller and is robust to external disturbance. |
