Research On Balance Control Strategy Of Bicycle Robot Based On Sliding Mode Variable Structure

The bicycle robot is a high-performance robot that integrates bicycle and intelligent control.It not only has the characteristics of convenience and flexibility of bicycle,but also has the high intelligence of integrated control system.Bicycle robots can replace humans in specific situations,and have broad application prospects in rescue and disaster relief,industrial control,and resource exploration.Therefore,the research on bicycle robots is of great significance.Balance control is an indispensable part of bicycle robots.The bicycle robot is a complex system with instability and nonlinear characteristics under natural conditions,and the stability of the system is affected by many factors.It is very challenging to control the balance of the bicycle robot.This paper uses the theorem of moment of momentum to establish a bicycle inverted pendulum model considering the front fork angle and forward speed,and makes ideal assumptions and linearization simplifications for the bicycle robot model.The stability analysis of the bicycle robot movement process based on this model is carried out.Then,in order to solve the problem of insufficient control performance and design of the balance controller of the bicycle robot system,this paper uses sliding mode variable structure control algorithm,adaptive control algorithm and observer method to innovatively design an adaptive integral terminal slide with the extreme learning machine observer.The model controller is used to discuss the stability of the bicycle robot control system by Lyapunov,and the MATLAB simulation experiment is used to demonstrate the control effect of the new controller.Finally,a reaction wheel bicycle robot integrating STM32 control chip,motor drive,encoder and MPU6050 module was built,and four different experimental scenarios were designed at the same time to verify the performance of the four balance controllers.Aiming at the problem of bicycle robot balance control,this paper conducts research in the establishment of model,controller design,stability analysis and experimental verification,and finally innovatively designs an adaptive terminal integral sliding mode with the extreme learning machine observer.The controller has proved the excellent control performance of the new controller through experiments.