Journal article
Robust control of reaction wheel bicycle robot via adaptive integral terminal sliding mode
Nonlinear Dynamics
2021
Abstract
In this paper, the modelling of a reaction wheel bicycle robot (RWBR) is identified from a second-order mathematical model which is similar to an inverted pendulum, and an adaptive integral terminal sliding mode (AITSM) control scheme is developed for balancing purpose of the RWBR. The proposed AITSM control scheme can not only stabilize the bicycle robot and reject external disturbances generated by uncertainties and unmodelled dynamics, but also eliminate the need of the required bound information in the control law via the designed adaptive laws. The experimental results verify the excellent performance of the proposed control scheme in terms of strong robustness, fast error convergence in comparison with other control schemes.
Details
- Title
- Robust control of reaction wheel bicycle robot via adaptive integral terminal sliding mode
- Authors/Creators
- L. Chen (Author/Creator) - Hangzhou Dianzi UniversityJ. Liu (Author/Creator) - Hangzhou Dianzi UniversityH. Wang (Author/Creator) - Murdoch UniversityY. Hu (Author/Creator) - Murdoch UniversityX. Zheng (Author/Creator) - Hangzhou Dianzi UniversityM. Ye (Author/Creator) - Murdoch UniversityJ. Zhang (Author/Creator) - Murdoch University
- Publication Details
- Nonlinear Dynamics
- Publisher
- Springer
- Identifiers
- 991005545538007891
- Copyright
- © 2021 Springer Nature Switzerland AG.
- Murdoch Affiliation
- School of Engineering and Energy
- Language
- English
- Resource Type
- Journal article
UN Sustainable Development Goals (SDGs)
This output has contributed to the advancement of the following goals:
Source: InCites
Metrics
81 Record Views
InCites Highlights
These are selected metrics from InCites Benchmarking & Analytics tool, related to this output
- Collaboration types
- Domestic collaboration
- International collaboration
- Citation topics
- 4 Electrical Engineering, Electronics & Computer Science
- 4.29 Automation & Control Systems
- 4.29.1251 Vehicle Dynamics Control
- Web Of Science research areas
- Engineering, Mechanical
- Mechanics
- ESI research areas
- Engineering