Please use this identifier to cite or link to this item: https://doi.org/10.1504/IJVD.2014.057801
Title: On integral sliding mode control for a unicycle
Authors: Xu, J.-X. 
Guo, Z.-Q.
Lee, T.H. 
Keywords: ISMC
LQR
Underactuated system
Unicycle
Vehicle control
Issue Date: 2014
Source: Xu, J.-X., Guo, Z.-Q., Lee, T.H. (2014). On integral sliding mode control for a unicycle. International Journal of Vehicle Design 64 (1) : 101-116. ScholarBank@NUS Repository. https://doi.org/10.1504/IJVD.2014.057801
Abstract: In this paper we present an integral sliding mode controller (ISMC) that can stabilise an underactuated unicycle system. The unicycle consists of a wheel and a saddle that is modelled as an inverse pendulum. The control objective for a unicycle is to achieve position control of the wheel while keeping the pendulum at the balanced position that is an unstable equilibrium. The only driving force is the torque applied to the shaft of the wheel. The proposed ISMC consists of an integral sliding surface, a switching term, a nonlinear compensation term and a LQR stabilising controller for the sliding manifold. The ISMC can effectively reject the matched disturbance and reduce the infl uence from unmatched disturbances, which is verifi ed through rigorous analysis and intensive numerical validation. Copyright © 2014 Inderscience Enterprises Ltd.
Source Title: International Journal of Vehicle Design
URI: http://scholarbank.nus.edu.sg/handle/10635/68358
ISSN: 01433369
DOI: 10.1504/IJVD.2014.057801
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