Adaptive Parameter Approaching Law-Based Sliding Mode Control for Wheeled Robots

A method combining adaptive parameter approaching law with Radial Basis Function (RBF) neural network hierarchical sliding mode control is proposed to address the issues of low accuracy and significant oscillations during the trajectory tracking process of wheeled inverted pendulum robots (WIPR) wit...

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Autori principali:	Ming Hou, Limeng Jia, Zhengqin Wang
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	IEEE 2025-01-01
Serie:	IEEE Access
Soggetti:	Wheeled inverted pendulum robot trajectory tracking RBF neural network layered sliding mode control adaptive parameter approaching law
Accesso online:	https://ieeexplore.ieee.org/document/10705293/
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