Update 2023-02-07-Design of a Control System for a Wheeled-Legged Amp…

…hibious Robot Based on Super-Helical Sliding Mode Control..md

_posts/2023-02-07-Design of a Control System for a Wheeled-Legged Amphibious Robot Based on Super-Helical Sliding Mode Control..md

@@ -37,7 +37,7 @@ Concluded that the designed balance controller quickly converges to the desired
 
 ## Project Showcase
 
-### Conceptual diagram of the robot design:
+#### Conceptual diagram of the robot design:
 
 <table rules="none" align="center">
 	<tr>
@@ -66,7 +66,7 @@ Concluded that the designed balance controller quickly converges to the desired
 </table>
 
 
-### Hardware circuitry for the robot's wheel leg section:
+#### Hardware circuitry for the robot's wheel leg section:
 
 <table rules="none" align="center">
 	<tr>
@@ -87,7 +87,7 @@ Concluded that the designed balance controller quickly converges to the desired
 	</tr>
 </table>
 
-### The designed amphibious air-ground robot:
+#### The designed amphibious air-ground robot:
 
 <table rules="none" align="center">
 	<tr>
@@ -127,7 +127,7 @@ Concluded that the designed balance controller quickly converges to the desired
 	</tr>
 </table>
 
-### Mathematical model of the robot
+#### Mathematical model of the robot
 
 The balancing of the robot involves only position and inclination control.
 
@@ -159,7 +159,7 @@ Using $x$ and $\phi$ represent the position and inclination of the robot, $C_l$
 
 (More details are coming soon ...)
 
-### Simulink-based simulation model:
+#### Simulink-based simulation model of super-helical sliding mode control algorithm:
 
 <table rules="none" align="center">
 	<tr>
@@ -173,4 +173,46 @@ Using $x$ and $\phi$ represent the position and inclination of the robot, $C_l$
 	</tr>
 </table>
 
-### Partial simulation results:
+#### Partial simulation results:
+
+The targst position is 1m and the initial inclination is $\frac{\pi}{4}$:
+
+<table rules="none" align="center">
+	<tr>
+		<td>
+			<center>
+				<img src="https://effun.xyz/assets/img/20230207/位移.png" width="100%" />
+				<br/>
+				<font color="AAAAAA"></font>
+			</center>
+		</td>
+	</tr>
+</table>
+
+The targst velocity is 1m/s and the initial inclination is $\frac{\pi}{4}$:
+
+<table rules="none" align="center">
+	<tr>
+		<td>
+			<center>
+				<img src="https://effun.xyz/assets/img/20230207/速度.png" width="100%" />
+				<br/>
+				<font color="AAAAAA"></font>
+			</center>
+		</td>
+	</tr>
+</table>
+
+The immunity is tested by equating the instant of air-ground mode switching to a perturbation signal:
+
+<table rules="none" align="center">
+	<tr>
+		<td>
+			<center>
+				<img src="https://effun.xyz/assets/img/20230207/抗扰.png" width="100%" />
+				<br/>
+				<font color="AAAAAA"></font>
+			</center>
+		</td>
+	</tr>
+</table>