Papers

Aug, 2010

Sliding-Mode Velocity Control of Mobile-Wheeled Inverted-Pendulum Systems

IEEE TRANSACTIONS ON ROBOTICS
  • Jian Huang
  • ,
  • Zhi-Hong Guan
  • ,
  • Takayuki Matsuno
  • ,
  • Toshio Fukuda
  • ,
  • Kosuke Sekiyama

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
DOI
https://doi.org/10.1109/TRO.2010.2053732
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000283538500016&DestApp=WOS_CPL
ID information
  • DOI : 10.1109/TRO.2010.2053732
  • ISSN : 1552-3098
  • eISSN : 1941-0468
  • Web of Science ID : WOS:000283538500016

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