High-order sliding mode-based synchronous control of a novel stair-climbing wheelchair robot

DOI10.1155/2015/680809zbMath1331.93037OpenAlexW2172611020WikidataQ59112445 ScholiaQ59112445MaRDI QIDQ5964351

Qing-wei Chen, Jian Guo, Juanxiu Liu, Yifei Wu

Publication date: 29 February 2016

Published in: Journal of Control Science and Engineering (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1155/2015/680809

zbMATH Keywords

Lyapunov theoryattitude controlstair-climbing wheelchair with inertial uncertainties and external disturbance torques

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Control/observation systems with incomplete information (93C41) Perturbations in control/observation systems (93C73) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Variable structure systems (93B12)

Related Items

Nonsingular fast terminal sliding mode tracking control for a class of uncertain nonlinear systems

Uses Software

• Matlab

Cites Work

• Chattering avoidance by second-order sliding mode control