摘要
在传统趋近律滑模控制器基础上采用一种改进的滑模控制器——自适应滑模控制器,同时针对小车运动时真实倾斜角速度不易测量,而倾角传感器测得的角速度满足不了要求,为此设计了广义卡尔曼滤波器来在线估计非线性系统的状态,有效抑制了系统噪声干扰,消弱了抖振,应用在自平衡小车上,验证了控制器的有效性。
The modified sliding mode controller, adaptive Slide Controller, based on reaching law of sliding mode Control Systems is adopted. Meanwhile, Generalized Kalman Filter is used to estimate nonlinear system state for angular velocity of inclination is not easy measured when vehicle is moving and the measuring result can＇t satisfied with requirement. It effectively suppress noise interference and weaken buffet. The efficiency of this controller is verified by applying it to self- balanced vehicle.
出处
《航空计算技术》
2008年第5期88-91,共4页
Aeronautical Computing Technique
关键词
离散变结构
自适应滑模控制
卡尔曼滤波器
discrete- time variable structure
adaptive slide controller
kalman filter
