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Regular form-based sliding mode control design on a two-wheeled inverted pendulum

Yang, Yankun, Yan, Xinggang, Sirlantzis, Konstantinos, Howells, Gareth (2021) Regular form-based sliding mode control design on a two-wheeled inverted pendulum. International Journal of Modelling, Identification and Control, 37 (3-4). pp. 312-320. ISSN 1746-6172. (doi:10.1504/IJMIC.2021.121846) (Access to this publication is currently restricted. You may be able to access a copy if URLs are provided) (KAR id:90816)

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http://dx.doi.org/10.1504/IJMIC.2021.121846

Abstract

In this paper, a Lagrangian-based dynamics is employed for a two-wheeled inverted pendulum with the consideration of unknown matched and unmatched uncertainties which are bounded by known nonlinear functions. The model is linearised and further transformed into a regular form to facilitate the analysis and design. A sliding surface is designed, and a set of conditions is developed such that the resulting sliding motion is uniformly ultimately bounded from a practical perspective. Further, a sliding mode control scheme is proposed such that the system is driven to the sliding surface in finite time and maintained on it thereafter. Finally, both simulation and experiment are presented using practical model parameters data to demonstrate the effectiveness and robustness of the regulation control.

Item Type: Article
DOI/Identification number: 10.1504/IJMIC.2021.121846
Uncontrolled keywords: Sliding Mode Control, Regular Form, Wheeled Inverted Pendulum, Nonlinear System, Mobile Robots
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 14:09 UTC
Last Modified: 13 Apr 2022 13:31 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/90816 (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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