Bicycle trajectory tracking sliding mode control method based on disturbance observer

• Main Authors: CHEN LONG, XU YIHONG, YAN BIN, ZHENG XUEFENG, MA XUETIAO
• Format: Patent
• Language: Chinese; English
• Published: 06.12.2022
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses a bicycle trajectory tracking sliding mode control method based on a disturbance observer. The method comprises the steps that S10, different sliding mode controllers and expected path information are added; s20, the sensor group collects motion parameters; s30, integrating and differencing the motion parameters to obtain a tracking error of each motion parameter; s40, the tracking error is substituted into a preset sliding mode surface to act on a reaction wheel driving motor, a forward motor and a steering engine; s50, judging whether a saturation overflow condition occurs or not, and if an exception occurs, ending the operation; otherwise, returning to the step S20 for cycle operation. The driving force of the handlebar and the rear wheel of the bicycle is controlled, the converted coordinate system serves as a reference error, and the reference steering direction and the reference speed are obtained through the stable convergence reaching law. The rear wheel driving force is contro