Hierarchical Sliding Mode Control for a 2D Ballbot That Is a Class of Second-Order Underactuated System
2D Ballbot is an actual under-actuated system with second-order nonholonomic velocity constraints and input coupling case where only control input is employed to control two outputs of the system. Controlling such a system is not easy because it faces many changelings including nonlinearities, exter...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Book Chapter |
| Language: | English |
| Published: |
IntechOpen
2022
|
| Subjects: | |
| Online Access: | https://www.intechopen.com/chapters/80015 |
| Tags: |
No Tags, Be the first to tag this record!
|
Similar Items: Hierarchical Sliding Mode Control for a 2D Ballbot That Is a Class of Second-Order Underactuated System
- Safe-Ballbot: Tilt-Consistent MPC with Control Barrier Functions for Ballbot Navigation
- Adaptive Super-twisting Second-order Sliding Mode for Attitude Control of Quadcopter UAVs
- Robust Sliding Mode and Admittance Control of Underactuated Aerial Manipulators for Contact-Based Inspection
- Reinforcement Learning for Ballbot Navigation in Uneven Terrain
- Adaptive Second-order Sliding Mode Control of UAVs for Civil Applications
- Enabling Shared-Control for A Riding Ballbot System