An immune algorithm and a technique of sliding mode variable structure control (VSC) are proposed to achieve real-time and accurate control of wheeled robot in view of uncertainties for time-varying, strong coupling and nonlinear characteristics of wheeled robots, coupled with change of load and influence of external disturbance in traditional control algorithm based on classical control theory. First, the VSC parameters are adjusted online by the immune algorithm, which overcomes limitation that the parameters of reaching law need to be set in advance in conventional VSC. Secondly, the algorithm not only retains advantages of the traditional reaching law, but also effectively improves control quality and eliminates chattering of the system. The experimental results show that the control technique makes the wheeled robot move on sliding surface in an ideal way, for main concern of this paper is to provide an effective systemic for control of wheeled robot.

针对轮式机器人的时变，强耦合和非线性特性的不确定性，以及轮式机器人的变化，提出了一种免疫算法和滑模变结构控制（VSC）技术来实现轮式机器人的实时，精确控制。基于经典控制理论的传统控制算法的负载和外部干扰的影响。首先，通过免疫算法在线调整VSC参数，克服了传统VSC中必须预先设置达到律参数的局限性。其次，该算法不仅保留了传统的到达律的优点，而且有效地提高了控制质量，消除了系统的抖动。