2021
DOI: 10.1504/ijmic.2021.10045908
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Regular form-based sliding mode control design on a two-wheeled inverted pendulum

Abstract: In this paper, a Lagrangian-based dynamics is employed for a Twowheeled 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… Show more

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