A Sliding Mode Control Method for the Cubical Robot

摘要

Aiming at balancing control of the cubical robot on its corner, a balance control method is introduced based on the sliding mode control(SMC) in this paper. The dynamic model of the cubical robot is derived with Lagrangian method according the manufactured prototype. A balancing controller is designed and implemented for the cubical robot balancing on its corner base on a nonlinear control method - sliding mode control. A series of experiments are conducted by simulation and comparative analysis between SMC and PID controller is made. Numerical simulation results show that the SMC not only can control the balancing of the cubical robot effectively, but also with superior performance in fast response to reference changes and strong robustness to PID controller.