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

Content Provider	IEEE Xplore Digital Library
Author	Jian Huang Zhi-Hong Guan Matsuno, T. Fukuda, T. Sekiyama, K.
Copyright Year	2004
Abstract	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.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	750
Ending Page	758
Page Count	9
File Size	668506
File Format	PDF
ISSN	15523098
Volume Number	26
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Velocity control Sliding mode control Mechanical systems Mobile robots Intelligent robots Intelligent vehicles Robustness Uncertainty Uncertain systems Asymptotic stability underactuated systems Mobile-wheeled inverted pendulum (MWIP) robust control sliding-mode control (SMC) stability
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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