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.
Original language | English |
---|---|
Article number | 5512655 |
Pages (from-to) | 750-758 |
Number of pages | 9 |
Journal | IEEE Transactions on Robotics |
Volume | 26 |
Issue number | 4 |
DOIs | |
Publication status | Published - Aug 1 2010 |
Externally published | Yes |
Keywords
- Mobile-wheeled inverted pendulum (MWIP)
- robust control
- sliding-mode control (SMC)
- stability
- underactuated systems
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering