ICRA'09 Paper Abstract

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Huang, Jian (Nagoya University), Wang, Hongwei (Huazhong University of Science and Technology), Matsuno, Takayuki (Toyama Prefectural University), Fukuda, Toshio (Nagoya University), Sekiyama, Kosuke (Nagoya University)

Robust Velocity Sliding Mode Control of Mobile Wheeled Inverted Pendulum Systems

Scheduled for presentation during the Regular Sessions "Motion Control - II" (FrD8), Friday, May 15, 2009, 16:50−17:10, Room: 406

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Intelligent Transportation Systems, Underactuated Robots, Wheeled Robots

Abstract

There has been an increasing interest in a kind 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 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. A new sliding mode control (SMC) method is proposed for the systems, which are capable of handling both parameter uncertainties and external disturbances. By assuming a special sliding surface, the proposed SMC controller is capable of eliminating the steady velocity tracking error. The asymptotical stability of the closed-loop system is achieved through selecting sliding surface parameters in terms of some rules. The effectiveness of the proposed methods is finally confirmed by numerical simulations.

 

 

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