Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking

A proposed optimized model for the trajectory tracking control of a wheeled inverted pendulum robot (WIPR) system is presented in this study, which addresses the problem of poor trajectory tracking performance in the presence of unknown disturbances due to the nonlinear and underactuated characteris...

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Autores principales:	Ming Hou, Xuedong Zhang, Du Chen, Zheng Xu
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	MDPI AG 2023-03-01
Colección:	Applied Sciences
Materias:	wheeled inverted pendulum robot underactuated nonlinear disturbance observer hierarchical sliding mode control
Acceso en línea:	https://www.mdpi.com/2076-3417/13/7/4350
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