NDLI: A synthesized integral sliding mode controller for an underactuated unicycle

Content Provider	IEEE Xplore Digital Library
Author	Jian-Xin Xu Zhao-Qin Guo Tong Heng Lee
Copyright Year	2010
Description	Author affiliation: Department of ECE, National University of Singapore, Singapore 117576 (Jian-Xin Xu) \|\| Department of ECE, Singapore 117576 (Tong Heng Lee) \|\| NUS Graduate School for Integrative Sciences and Engineering, Singapore 117456 (Zhao-Qin Guo)
Abstract	In this paper we present a synthesized integral sliding mode controller (ISMC) that can stabilize an underactuated unicycle system. The unicycle consists of a wheel and a saddle that is modeled as an inverse pendulum. The only driving force is the torque applied to the shaft of the wheel, hence it is underactuated. Based on a linear approximation model, a linear controller using LQR method is designed. The control error bound achieved by the linear controller is derived for the unicycle. Next, the matched system nonlinearity of the unicycle is compensated, hence the error bound is reduced. The proposed synthesized ISMC consists of the linear controller, nonlinear compensation, a switching term, and an integral sliding surface. The synthesized ISMC can effectively reject the matched disturbance, and minimize the influence from unmatched disturbances, thus yielding a further reduced error bound.
Starting Page	352
Ending Page	357
File Size	368142
Page Count	6
File Format	PDF
ISBN	9781424458295
e-ISBN	9781424458318
e-ISBN	9781424458301
DOI	10.1109/VSS.2010.5545132
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-26
Publisher Place	Mexico
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Stability Wheels Control system synthesis Nonlinear control systems Control systems Error correction Mobile robots Sliding mode control Vehicles
Content Type	Text
Resource Type	Article

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