TY  - JOUR
PY  - 2020//
TI  - H ∞ time-delayed fractional order adaptive sliding mode control for two-wheel self-balancing vehicles
JO  - Computational intelligence and neuroscience
A1  - Xue, Han
A1  - Fang, Qionglin
A1  - Zhong, Jifeng
A1  - Shao, Zhe-Ping
SP  - e4529131
EP  - e4529131
VL  - 2020
IS  - 
N2  - In this paper, a time-delayed fractional order adaptive sliding mode control algorithm is proposed for a two-wheel self-balancing vehicle system. The closed-loop system is proved based on the Lyapunov-Razumikhin function. The switching function is designed to make the system robust when facing uncertainties and external disturbances. It is designed to avoid monotonically increasing gains and can handle state-dependent uncertainties without a prior bound. The two-wheel self-balancing vehicle used in the experiment consists of a gyroscope MPU-6050 and accelerometer, a motor driving circuit composed of a motor driving chip TB6612FNG, and STM32F103x8B that is selected as the control core. The experimental results show that the time-delayed fractional order adaptive sliding mode control algorithm can make the vehicle achieve autonomous balance and quickly restore its stable state while appropriate disturbance is introduced.<p />  <p>Language: en</p>
LA  - en
SN  - 1687-5265
UR  - http://dx.doi.org/10.1155/2020/4529131
ID  - ref1
ER  -