Journal article
Robust hierarchical sliding mode control of a two-wheeled self-balancing vehicle using perturbation estimation
Mechanical Systems and Signal Processing, Vol.139, Article 106584
2020
Abstract
This paper presents the design and implementation of hierarchical sliding mode control (HSMC) with perturbation estimation (PE) technique on a two-wheeled self-balancing vehicle (TWSBV), to simultaneously realize real-time balancing and velocity tracking control purposes. Considering the fact that the TWSBV system is a typical second-order underactuated system with one controlled actuator and two required control objectives, two sliding surfaces constructed by the velocity and tilt angle information are first designed and an HSMC is proposed to simultaneously achieve both balancing control and velocity control. In order to further enhance the ability of disturbance rejection of the HSMC control, the PE is used to assist with the proposed control for estimating the perturbations online such that the uncertainty bound information is not required in the control design. The excellent balancing and velocity tracking performance can be well achieved even under external disturbances. The effectiveness of the proposed control is verified by a group of comparative experimental investigations on a real TWSBV.
Details
- Title
- Robust hierarchical sliding mode control of a two-wheeled self-balancing vehicle using perturbation estimation
- Authors/Creators
- L. Chen (Author/Creator) - Hangzhou Dianzi UniversityH. Wang (Author/Creator) - Murdoch UniversityY. Huang (Author/Creator) - Hefei University of TechnologyZ. Ping (Author/Creator) - Hefei University of TechnologyM. Yu (Author/Creator) - Hefei University of TechnologyX. Zheng (Author/Creator) - Hangzhou Dianzi UniversityM. Ye (Author/Creator) - Hefei University of TechnologyY. Hu (Author/Creator) - Hefei University of Technology
- Publication Details
- Mechanical Systems and Signal Processing, Vol.139, Article 106584
- Publisher
- Elsevier
- Identifiers
- 991005540336907891
- Copyright
- © 2019 Elsevier Ltd.
- Murdoch Affiliation
- College of Science, Health, Engineering and Education
- Language
- English
- Resource Type
- Journal article
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- Collaboration types
- Domestic collaboration
- International collaboration
- Citation topics
- 4 Electrical Engineering, Electronics & Computer Science
- 4.29 Automation & Control Systems
- 4.29.104 Adaptive Control
- Web Of Science research areas
- Engineering, Mechanical
- ESI research areas
- Engineering