Sliding Mode Observe and Control for the Underactuated Inertia Wheel Pendulum System
The inertia wheel pendulum (IWP) is a widely studied nonlinear benchmark underactuated system and its control problem is a challenging task for its underactuated nature. This paper considers the IWP stabilization problem with the classic sliding mode method. The nonlinear canonical model of the unde...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8752348/ |