Adaptive Observer-Based Sliding Mode Control for a Two-Wheeled Self-Balancing Robot under Terrain Inclination and Disturbances
This paper investigates an output feedback sliding mode control scheme for a two-wheeled self-balancing robot under terrain inclination and disturbances. First of all, an adaptive high-gain observer is designed for the robot to estimate, simultaneously, the unmeasured states and the unknown terrain...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2021-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/8853441 |