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Static Output Feedback Control of a Two-wheeled Inverted Pendulum Using Sliding Mode Technique

Yang, Yankun, Yan, Xinggang, Sirlantzis, Konstantinos, Howells, Gareth (2021) Static Output Feedback Control of a Two-wheeled Inverted Pendulum Using Sliding Mode Technique. In: Proceedings International Conference on Robotics and Control Systems. . (In press) (Access to this publication is currently restricted. You may be able to access a copy if URLs are provided) (KAR id:90812)

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Abstract

This paper presents a static output feedback sliding

mode control method to regulate a two-wheeled inverted pendulum

system with considerations of matched and unmatched

uncertainties. A sliding surface is designed and the associated

sliding motion stability is analysed based on the reduced-order

dynamics. A static output sliding mode control law is synthesised

to drive the system to the sliding surface and maintain a sliding

motion afterwards. The nonlinear bounds on the uncertainties

are employed in the stability analysis and control design to

improve the robustness. The simulation results demonstrate the

effectiveness of the proposed control.

Item Type: Conference or workshop item (Paper)
Uncontrolled keywords: Two-wheeled inverted pendulum, output feedback sliding mode control, nonlinear systems, robotics.
Subjects: T Technology > TJ Mechanical engineering and machinery > Control engineering
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Computing
Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: Gareth Howells
Date Deposited: 12 Oct 2021 13:55 UTC
Last Modified: 12 Oct 2021 13:55 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/90812 (The current URI for this page, for reference purposes)
Yan, Xinggang: https://orcid.org/0000-0003-2217-8398
Sirlantzis, Konstantinos: https://orcid.org/0000-0002-0847-8880
Howells, Gareth: https://orcid.org/0000-0001-5590-0880
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