Hierarchical sliding-mode control of bicycle robot system

Author

Yu, Xiuli ; Lu, Zhen

Author_Institution

Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

fYear

2011

fDate

27-29 June 2011

Firstpage

3260

Lastpage

3263

Abstract

Dynamic model of the bicycle robot is made by methods based on Lagrangian and using multi-sliding surface of the Hierarchical sliding-mode method controls non-linear underactuated bicycle robot system. This method divided system states into two sub-systems. Two first-level sub-sliding planes are designed, and then the second-level sliding plane is constructed. The ultimate sliding-mode control law is obtained by using Lyapunov stability theorem. The Hierarchical sliding-mode controller have the bicycle robot controlled effectively, which has been verified in the simulation experiment.

Keywords

Lyapunov methods; hierarchical systems; mobile robots; variable structure systems; Lagrangian methods; Lyapunov stability theorem; bicycle robot system; hierarchical sliding-mode control; multisliding surface; nonlinear underactuated bicycle robot system; second-level sliding plane; sliding-mode control law; Bicycles; Conferences; Nonlinear dynamical systems; Robots; Sliding mode control; Weaving; Hierarchical mode control; bicycle robot; stability; underactuated systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Service System (CSSS), 2011 International Conference on

Conference_Location

Nanjing

Print_ISBN

978-1-4244-9762-1

Type

conf

DOI

10.1109/CSSS.2011.5972173

Filename

5972173