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dcterms:title
Regular Form Based Sliding Mode Control Design on a Two-wheeled Inverted Pendulum
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2021-02-26
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n14:ext-w.g.j.howells@kent.ac.uk n14:ext-x.yan@kent.ac.uk n14:ext-yy237@kent.ac.uk n14:ext-k.sirlantzis@kent.ac.uk
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bibo: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.
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