Design and implementation of a new sliding mode controller on an underactuated wheeled inverted pendulum

DOI10.1016/J.JFRANKLIN.2013.02.002zbMath1372.93062OpenAlexW2067277252MaRDI QIDQ2410756

Tong-Heng Lee, Zhao-Qin Guo, Jian-Xin Xu

Publication date: 19 October 2017

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2013.02.002

zbMATH Keywords

sliding mode controluncertaintieslinear matrix inequality (LMI)linear quadratic regulator (LQR)linear controller designunderactuated wheeled inverted pendulum

Mathematics Subject Classification ID

Control/observation systems with incomplete information (93C41) Linear systems in control theory (93C05) Control of mechanical systems (70Q05) Variable structure systems (93B12)

Related Items (9)

Robust feedback control of the underactuated inertia wheel inverted pendulum under parametric uncertainties and subject to external disturbances: LMI formulation ⋮ Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum's base navigation commands ⋮ Soft variable structure controller design for singular systems ⋮ Tackling mismatched uncertainty in robust constraint-following control of underactuated systems ⋮ Turning motion control design of a two-wheeled inverted pendulum using curvature tracking and optimal control theory ⋮ Zero dynamics stabilisation and adaptive trajectory tracking for WIP vehicles through feedback linearisation and LQR technique ⋮ A trajectory planning and tracking control approach for obstacle avoidance of wheeled inverted pendulum vehicles ⋮ LMI-based synthesis of a robust saturated controller for an underactuated mechanical system subject to motion constraints ⋮ Implementation of mamdami fuzzy control on a multi-DOF two-wheel inverted pendulum robot

Cites Work

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