中文摘要：

针对两轮自平衡车的平衡控制问题,文章提出一种自适应模糊滑模控制方法。将整个平衡控制系统分为摆角子系统和位移子系统;利用分层滑模控制策略推导出系统总的控制律;针对控制律中存在的系统不确定部分,利用模糊逻辑的万能逼近功能进行估计,并基于Lyapunov方法设计相应的自适应律;考虑到线性滑模面斜率对于系统性能的影响,采用模糊控制方法对其进行调节,进一步改善了控制系统的品质。仿真结果验证了该控制方法的有效性,而且优化后的控制器具有较好的控制效果和鲁棒性。

英文摘要：

In order to solve the problem of balance control of two-wheeled self-balancing cart, an adaptive fuzzy sliding mode control method is proposed. Firstly, the balance control system is decomposed into swing angle subsystem and position subsystem. Then the control law of systems is derived by u- sing hierarchical sliding mode control strategy. Meanwhile, the universal approximation function of fuzzy logic is used to deal with the uncertain part of the system, and the adaptive law is designed based on Lyapunov method. Finally, the fuzzy control method is used to adjust the slope of the linear sliding mode surface, which is related to the system performance, so that the quality of the control system is further improved. The simulation results prove that this control method is effective l and the opti- mized controller can get better adaptability and control results.