High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot
For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpose, a proper controller is des...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
Hindawi Limited
2015-01-01
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Series: | Journal of Control Science and Engineering |
Online Access: | http://dx.doi.org/10.1155/2015/680809 |