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Sliding Mode Variable Structure-Based Chattering Avoidance Control for Mobile Wheeled Inverted Pendulums

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Robust and Intelligent Control of a Typical Underactuated Robot

Part of the book series: Research on Intelligent Manufacturing ((REINMA))

Abstract

Sever chattering appearing in the traditional sliding mode control may cause harm to physical systems. This chapter shows two typical chattering avoidance controllers based on the idea of sliding mode variable structure, including adaptive super-twisting control and terminal sliding mode control. By proceeding with the discontinuous term on the second-order time derivative and introducing an adaptive gain, the proposed adaptive super-twisting control can suppress the system input chattering and learn the upper bounds of the lumped disturbances, thereby performing a superior performance of balance control of the WMIP system and capacity to reduce chattering. On the other hand, the terminal sliding mode control solves the equations of the underactuated part and the dynamics on the sliding surface simultaneously, allowing the system to be self-stabilizing on the sliding surface. Various simulations, including balance and velocity control, are conducted, which verifies the effectiveness of the proposed chattering avoidance controllers.

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Authors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, Hubei, China

    Jian Huang & Mengshi Zhang

  2. Nagoya University, Nagoya, Aichi, Japan

    Toshio Fukuda

Authors
  1. Jian Huang
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  2. Mengshi Zhang
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  3. Toshio Fukuda
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Corresponding author

Correspondence to Jian Huang .

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Huang, J., Zhang, M., Fukuda, T. (2023). Sliding Mode Variable Structure-Based Chattering Avoidance Control for Mobile Wheeled Inverted Pendulums. In: Robust and Intelligent Control of a Typical Underactuated Robot. Research on Intelligent Manufacturing. Springer, Singapore. https://doi.org/10.1007/978-981-19-7157-0_4

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