Dynamic Sliding Mode Control of Gyroscopic Balancing Vehicles Based on Disturbance Observer

摘要

Gyroscopic balancing vehicle is a new means of transportation with flexible structure and environmental friendliness,which has broad application prospects.However,it is also a typical system of nonlinear characteristics,static instability and parameter uncertainty,making its balance control problem difficult to dealing with.Based on the Lagrange equation of the dynamics model for single-frame CMG,a dynamic sliding mode controller with disturbance observer is designed to solve the severe chattering in conventional sliding mode method by compensating the parameter variation and external disturbance.The simulation results show that the introduced method effectively suppresses the chattering phenomenon,and the dynamic performance of the system is improved at the same time,which further enhances the robustness and application range of the gyroscopic balancing vehicle.