Control of a Ballbot
碩士 === 國立臺北科技大學 === 機電整合研究所 === 96 === Based on sliding mode theory, this paper presents a hierarchical sliding-mode control for under-actuated system of a ballbot. Firstly, the nominal system is divided into two subsystems and sliding mode surface of every subsystem is defined. Secondly, one of the...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2008
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| Online Access: | http://ndltd.ncl.edu.tw/handle/a94m8t |