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There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel transportation system, UW-Car, which is composed of an MWIP system and a movable seat is proposed. The reduced-order dynamic model of a UW-Car system running in a rough terrain is obtained by applying Lagrangian motion equations. A sliding mode control approach is proposed based on the dynamic model. Comparing with the linear quadratic regulator (LQR) approach, the new method guarantees that a UW-Car system can run in a rough terrain while keeping the body upright and the seat on some fixed position. The theoretical results are finally demonstrated through numerical simulations. Index Terms -Underactuated mechanical systems; MobileWheeled Inverted Pendulum (MWIP); Sliding Mode Control (SMC); Rough terrain List key index terms here.

The non-H atoms of the title compound, C10H9BrO5, are essentially coplanar, with the exception of the ester group [the O=C—O—C torsion angle is −143.4 (3)°].

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