Adaptive hierarchical sliding mode control for full nonlinear dynamics of uncertain ridable ballbots under input saturation

DOI10.1002/rnc.5423zbMath1526.93109OpenAlexW3120084749MaRDI QIDQ6089777

Unnamed Author, Mien Van, Soon-Geul Lee

Publication date: 13 November 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://pureadmin.qub.ac.uk/ws/files/227783310/3DBallbot_AHSMC_rnc_R2_MV.pdf

zbMATH Keywords

uncertain systemsliding mode controlinput saturationchattering reductionunderactuated system

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13) Variable structure systems (93B12)

Related Items (3)

Adaptive neural sliding mode control of uncertain robotic manipulators with predefined time convergence ⋮ Neural learning impedance control of lower limb rehabilitation exoskeleton with flexible joints in the presence of input constraints ⋮ Fault detection for uncertain nonlinear systems via recursive observer and tight threshold

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