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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jian Huang Hongwei Wang Matsuno, T. Fukuda, T. Sekiyama, K. |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Intelligent System Design Engineering, Toyama Prefectural University, Imizu City 939-0398, Japan (Jian Huang; Hongwei Wang; Matsuno, T.) || Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, Japan (Fukuda, T.; Sekiyama, K.) |
| Abstract | There has been an increasing interest in a kind 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 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. A sliding mode control (SMC) method based on a novel sliding surface is proposed for the systems, which are capable of handling both parameter uncertainties and external disturbances. By assuming the specially designed sliding surface, the proposed SMC controller is capable of eliminating the steady velocity tracking error. The asymptotical stability of the closed-loop system is achieved through selecting sliding surface parameters in terms of some rules. The effectiveness of the proposed methods is finally confirmed by numerical simulations. |
| Starting Page | 2983 |
| Ending Page | 2988 |
| File Size | 302110 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152418 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robust control Sliding mode control Velocity control Mechanical systems Mobile robots Intelligent robots Intelligent vehicles Robustness Uncertainty Uncertain systems |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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