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...
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| Main Authors: | , , , |
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| Format: | Book Chapter |
| Language: | English |
| Published: |
IntechOpen
2022
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| Subjects: | |
| Online Access: | https://www.intechopen.com/chapters/80015 |
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| Summary: | 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, external disturbances, and uncertainties. This study proposed a robust control system for a Ballbot mobile robot. The proposed control scheme is constructed using the hierarchical sliding mode control technique. The kinematics and dynamics of the Ballbot are derived. A Lyapunov function is used to prove the stability of the closed-loop control system. The stabilizing and transferring problems are investigated through several simulations and experiments by using the actual Ballbot platform. |
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| ISBN: | 978-1-80356-083-0 |
| DOI: | 10.5772/intechopen.101855 |