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论文类型：期刊论文

发表时间：2010-10-01

发表刊物：IET CONTROL THEORY AND APPLICATIONS

收录刊物：SCIE、EI、Scopus

卷号：4

期号：10

页面范围：1898-1904

ISSN号：1751-8644

摘要：A new dynamic model for a class of two-wheeled mobile robot (2WMR), whose mass centre locates below its wheel axis, is presented. The dynamic model considered as the motion of an underactuated vehicle body can represent the time-varying horizontal distance of the mass centre with respect to the configuration centre. This model can describe the dynamic behaviours of the robot more accurately. By the computed torque approach, a sliding mode controller based on the adaptive gain to overcome the disturbances of the system is proposed. Integrating with the velocity controller, the whole control system is made up of two closed-loop structures. The control algorithm efficiency is confirmed through simulation in the MATLAB environment.