Aug, 2010
Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems
IEEE TRANSACTIONS ON ROBOTICS
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- Volume
- 26
- Number
- 4
- First page
- 750
- Last page
- 758
- Language
- English
- Publishing type
- Research paper (scientific journal)
- DOI
- 10.1109/TRO.2010.2053732
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust-velocity-tracking problem of the MWIP systems is investigated in this study. In the velocity-control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.
- Link information
- ID information
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- DOI : 10.1109/TRO.2010.2053732
- ISSN : 1552-3098
- eISSN : 1941-0468
- Web of Science ID : WOS:000283538500016