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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Official URL 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 |
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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: | ![]() |
Sirlantzis, Konstantinos: | ![]() |
Howells, Gareth: | ![]() |
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