Adaptive-Gain Second-Order Sliding Mode Control for Balancing an Underactuated Unicycle Robot

DOI

10.2991/aer.k.211129.051How to use a DOI?

Keywords

adaptive super-twisting algorithm; balancing control; unicycle robot; underactuated system; second-order sliding mode control

Abstract

This paper presents the balancing control of underactuated unicycle robot. The authors propose new approach to control such system using Adaptive Super-Twisting Sliding Mode Control. First, the simplified dynamic model of unicycle robot is adopted from previous results and then the normal forms are obtained to design controllers. Second, the adaptive super twisting sliding mode control is applied for all pitch, roll, and yaw dynamics such that the system can be balanced upright. Then the controller laws are implemented in virtual robot using Open Dynamics Engine (ODE) simulation. It is shown in simulations that the proposed controllers are effectively stabilized the unicycle robot upright.

Copyright

© 2021 The Authors. Published by Atlantis Press International B.V.

Open Access

This is an open access article under the CC BY-NC license.

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TY  - CONF
AU  - Yusie Rizal
AU  - Feriyadi Marzuki
PY  - 2021
DA  - 2021/11/30
TI  - Adaptive-Gain Second-Order Sliding Mode Control for Balancing an Underactuated Unicycle Robot
BT  - Proceedings of the International Conference on Innovation in Science and Technology (ICIST 2020)
PB  - Atlantis Press
SP  - 239
EP  - 246
SN  - 2352-5401
UR  - https://doi.org/10.2991/aer.k.211129.051
DO  - 10.2991/aer.k.211129.051
ID  - Rizal2021
ER  -