About: Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum

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type	http://eprints.org/ontology/ArticleEPrint http://eprints.org/ontology/EPrint Article Academic Article
seeAlso	HTML Summary of #90816 Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum
http://eprints.org/ontology/hasAccepted	Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum (PDF)
http://eprints.org/ontology/hasDocument	Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum (PDF) Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum (Other) Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum (Other) Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum (Other) Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum (Other) Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum (Other)
dc:hasVersion	Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum (PDF)
Title	Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum
described by	https://demo.openlinksw.com/about/id/entity/https/raw.githubusercontent.com/annajordanous/CO644Files/main/export_kar_RDFN3.n3
Date	2021-02-26
Creator	Konstantinos Sirlantzis Gareth Howells Xinggang Yan Yankun Yang
status	forthcoming peer reviewed
Publisher	Inderscience
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 �nite time and maintained on it thereafter. Finally, both simulation and experiment are presented using practical model parameters data to demonstrate the e�ectiveness and robustness of the regulation control.
Is Part Of	International Journal of Modelling, Identification and Control https://kar.kent.ac.uk/id/repository
Subject	Control engineering
list of authors	https://kar.kent.ac.uk/id/eprint/90816#authors
is topic of	https://raw.githubusercontent.com/annajordanous/CO644Files/main/export_kar_RDFN3.n3
is primary topic of	HTML Summary of #90816 Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum

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