Robust velocity sliding mode control of mobile wheeled inverted pendulum systems

Jian Huang, Hongwei Wang, Takayuki Matsuno, Toshio Fukuda, Kousuke Sekiyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages2983-2988
Number of pages6
DOIs
Publication statusPublished - Nov 2 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Huang, J., Wang, H., Matsuno, T., Fukuda, T., & Sekiyama, K. (2009). Robust velocity sliding mode control of mobile wheeled inverted pendulum systems. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 2983-2988). [5152418] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152418