High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot
For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpose, a proper controller is des...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2015-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/680809 |
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| _version_ | 1832545982075633664 |
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| author | Juanxiu Liu Yifei Wu Jian Guo Qingwei Chen |
| author_facet | Juanxiu Liu Yifei Wu Jian Guo Qingwei Chen |
| author_sort | Juanxiu Liu |
| collection | DOAJ |
| description | For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpose, a proper controller is designed, which can improve the performance of the system under conditions of uncertainties and torque perturbations and also can guarantee the synchronization of the system. Firstly, a robust high-order sliding mode control law is designed to track the desired position trajectories effectively. Secondly, considering the coordination of the multiple joints, a high-order sliding mode synchronization controller is designed to reduce the synchronization errors and tracking errors based on the controller designed previously. Stability of the closed-loop system is proved by Lyapunov theory. The simulation is performed by MATLAB to verify the effectiveness of the proposed controller. By comparing the simulation results of two controllers, it is obvious that the proposed scheme has better performance and stronger robustness. |
| format | Article |
| id | doaj-art-433982d62bbb45c5a5a8c496c050e40e |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-433982d62bbb45c5a5a8c496c050e40e2025-02-03T07:24:06ZengWileyJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/680809680809High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair RobotJuanxiu Liu0Yifei Wu1Jian Guo2Qingwei Chen3School of Automation, Nanjing University of Science and Technology, Nanjing 210094, ChinaSchool of Automation, Nanjing University of Science and Technology, Nanjing 210094, ChinaSchool of Automation, Nanjing University of Science and Technology, Nanjing 210094, ChinaSchool of Automation, Nanjing University of Science and Technology, Nanjing 210094, ChinaFor the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpose, a proper controller is designed, which can improve the performance of the system under conditions of uncertainties and torque perturbations and also can guarantee the synchronization of the system. Firstly, a robust high-order sliding mode control law is designed to track the desired position trajectories effectively. Secondly, considering the coordination of the multiple joints, a high-order sliding mode synchronization controller is designed to reduce the synchronization errors and tracking errors based on the controller designed previously. Stability of the closed-loop system is proved by Lyapunov theory. The simulation is performed by MATLAB to verify the effectiveness of the proposed controller. By comparing the simulation results of two controllers, it is obvious that the proposed scheme has better performance and stronger robustness.http://dx.doi.org/10.1155/2015/680809 |
| spellingShingle | Juanxiu Liu Yifei Wu Jian Guo Qingwei Chen High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot Journal of Control Science and Engineering |
| title | High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot |
| title_full | High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot |
| title_fullStr | High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot |
| title_full_unstemmed | High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot |
| title_short | High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot |
| title_sort | high order sliding mode based synchronous control of a novel stair climbing wheelchair robot |
| url | http://dx.doi.org/10.1155/2015/680809 |
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