TY - JOUR
T1 - Sliding-mode velocity control of mobile-wheeled inverted-pendulum systems
AU - Huang, Jian
AU - Guan, Zhi Hong
AU - Matsuno, Takayuki
AU - Fukuda, Toshio
AU - Sekiyama, Kosuke
N1 - Funding Information:
Manuscript received January 25, 2010; revised June 9, 2010; accepted June 9, 2010. Date of publication July 23, 2010; date of current version August 10, 2010. This paper was recommended for publication by Associate Editor T. Murphey and Editor J.-P. Laumond upon evaluation of the reviewers’ comments. This work was supported by the National Natural Science Foundation of China under Grant 60603006 and Grant 60834002 and by the Doctoral Foundation of Ministry of Education of China under Grant 20090142110039.
PY - 2010/8
Y1 - 2010/8
N2 - 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.
AB - 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.
KW - Mobile-wheeled inverted pendulum (MWIP)
KW - robust control
KW - sliding-mode control (SMC)
KW - stability
KW - underactuated systems
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U2 - 10.1109/TRO.2010.2053732
DO - 10.1109/TRO.2010.2053732
M3 - Article
AN - SCOPUS:77955580846
VL - 26
SP - 750
EP - 758
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 4
M1 - 5512655
ER -