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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.

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.

Purpose: We aim at “heavy traffic direction” and “light traffic direction” in two-way waterway traffic and attempt to promote the transit capacity of two-way waterway system. Design/methodology/approach: We propose overtaking rules, head-on rules and a cellular automaton model for variable two-way waterway on AIS-based on the basis of NaSch (Nagel-Schreckenberg) model. Findings: By numerical simulation to the two situations which allow changing lane and prohibit changing lane, we obtain fundamental functions between traffic flux (speed) and density and find that changing lane can promote traffic flux and average speed of two-way waterway system under the premise of no impact to the traffic order, and when waterway ship traffic is dense, flux of waterway system has a visible promotion, and when traffic is sparse, average speed of waterway system adds significantly. Originality/value: The paper presents a method to analyze and promote transit capacity of two-way waterway.