Add to ORKGThis 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
10.1016/j.jfranklin.2013.02.002Journal of the Franklin Institute35142261-2282JFIN
This paper presents the application of discrete-time variable structure control with sliding mode ba...
In this paper, a class of nonlinear systems is considered, where the nominal system representation i...
In this paper, a Lagrangian-based dynamics is employed for a two-wheeled inverted pendulum with the ...
The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum ove...
Nowadays, the control of mechanical systems with fewer inputs than outputs (Under-actuated systems) ...
In this paper, a second order sliding mode controller is applied for single-input single-output (SIS...
An Inverted Pendulum is a classical control problem in control theory. Since it is a non-linear syst...
A terminal sliding mode controller with nonlinear disturbance observer is investigated to control mo...
This thesis not only concerns the development of sliding mode control (SMC) design for two-wheeled m...
Numerous practical applications like robot balancing, segway and hover board riding and operation of...
Abstract—This paper presents a coupled sliding-mode control (SMC) of inverted-pendulum systems. An S...
The current paper investigates two control methods for stabilizing a two-wheel inverted pendulum (TW...
This paper presents result of a research and development of nonlinear system synthesis using sliding...
Due to the nature of PID controller, the inverted pendulum will seldom be in the steady state in a n...
10.1016/j.jfranklin.2013.02.002Journal of the Franklin Institute35142261-2282JFIN
This paper presents the application of discrete-time variable structure control with sliding mode ba...
In this paper, a class of nonlinear systems is considered, where the nominal system representation i...
In this paper, a Lagrangian-based dynamics is employed for a two-wheeled inverted pendulum with the ...
The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum ove...
Nowadays, the control of mechanical systems with fewer inputs than outputs (Under-actuated systems) ...
In this paper, a second order sliding mode controller is applied for single-input single-output (SIS...
An Inverted Pendulum is a classical control problem in control theory. Since it is a non-linear syst...
A terminal sliding mode controller with nonlinear disturbance observer is investigated to control mo...
This thesis not only concerns the development of sliding mode control (SMC) design for two-wheeled m...
Numerous practical applications like robot balancing, segway and hover board riding and operation of...
Abstract—This paper presents a coupled sliding-mode control (SMC) of inverted-pendulum systems. An S...
The current paper investigates two control methods for stabilizing a two-wheel inverted pendulum (TW...
This paper presents result of a research and development of nonlinear system synthesis using sliding...
Due to the nature of PID controller, the inverted pendulum will seldom be in the steady state in a n...
10.1016/j.jfranklin.2013.02.002Journal of the Franklin Institute35142261-2282JFIN
This paper presents the application of discrete-time variable structure control with sliding mode ba...
In this paper, a class of nonlinear systems is considered, where the nominal system representation i...