引用本文: 韦赵滨, 张奇志, 周亚丽. 基于欠驱动滑模控制的非线性无人自行车自平衡控制及抗扰分析. 力学与实践, xxxx, x(x): 1-10.
Wei Zhaobin, Zhang Qizhi, Zhou Yali. Self-balancing control and disturbance rejection analysis of nonlinear unmanned bicycle based on underactuated sliding mode control. Mechanics in Engineering, xxxx, x(x): 1-10.
 Citation: Wei Zhaobin, Zhang Qizhi, Zhou Yali. Self-balancing control and disturbance rejection analysis of nonlinear unmanned bicycle based on underactuated sliding mode control. Mechanics in Engineering, xxxx, x(x): 1-10.

## SELF-BALANCING CONTROL AND DISTURBANCE REJECTION ANALYSIS OF NONLINEAR UNMANNED BICYCLE BASED ON UNDERACTUATED SLIDING MODE CONTROL

• 摘要: 通过把无人驾驶自行车看作4个刚体，根据各个刚体的运动特性，采用拉格朗日方程法建立了欠驱动、非线性的动力学模型，研究了无人自行车自平衡运动的控制问题。针对系统的欠驱动特点，采用矩阵变换设计了一种欠驱动滑模控制器(underactuated sliding mode controller, USMC)，通过车把转角和车体倾角的反馈信息来控制车把转角以实现无人驾驶自行车的平衡控制。根据李雅普诺夫稳定性理论和Hurwitz稳定判据确定欠驱动滑模控制器参数并进行仿真实验研究。仿真实验表明，欠驱动滑模控制算法能实现无人驾驶自行车在平面内的自平衡运动，在动态性能上优于PD(proportional-derivative)控制算法，并具有较好的抗扰性能。

Abstract: This paper studied the stable balance walking control problem of unmanned bicycles. By simplifying the unmanned bicycles as four rigid bodies and considering the motion characteristics of each body, an underactuated nonlinear dynamics model is obtained using Lagrange equation method. To address the underactuated nature of the system, an underactuated sliding mode controller (USMC) is designed using matrix transformation techniques. The balance control of the unmanned bicycle is achieved by controlling the handlebar using feedback information of handlebar steering angle and roll angle. The parameters of the USMC were determined based on the principles of Lyapunov stability theory and Hurwitz stability criterion, and extensive simulation experiments were conducted to evaluate its performance. The simulation experiments show that the USMC has faster convergence than the PD control algorithm and it can achieve steady straight balance walking of the unmanned bicycle on the ground with good robustness and disturbance rejection.

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