High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems
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DOI: 10.1109/tie.2019.2903778
Abstract: In this paper, a novel high-order disturbance observer (HODO) for the mobile wheeled inverted pendulum (MWIP) system is first proposed. Based on a choice method of optimal gain matrices, the estimation accuracy of the HODO… read more here.
Keywords: mobile wheeled; control; wheeled inverted; disturbance observer ... See more keywords
Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems
Sign Up to like & getrecommendations! Published in 2019 at "Applied Sciences"
DOI: 10.3390/app9122508
Abstract: Recently, the mobile wheeled inverted pendulum (MWIP) has gained an increasing interest in the field of robotics due to traffic and environmental protection problems. However, the MWIP system is characterized by its nonlinearity, underactuation, time-varying… read more here.
Keywords: mobile wheeled; control; adaptive super; wheeled inverted ... See more keywords