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• W2921325762 abstract "In this paper, a novel high-order disturbance observer (HODO) for the mobile wheeled inverted pendulum (MWIP) system is first proposed. Based on a choice method of optimal gain matrices, the estimation accuracy of the HODO can be improved. Combining the proposed HODO and sliding mode control (SMC), a new control strategy is designed for the balance and speed control of the MWIP system. The boundness of the estimation error of HODO is proved and the stability of the closed-loop control system is achieved through the appropriate selection of sliding surface coefficients. The effectiveness of all proposed methods is verified by experiments on a real MWIP system." @default.
• W2921325762 created "2019-03-22" @default.
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• W2921325762 date "2020-03-01" @default.
• W2921325762 modified "2023-10-15" @default.
• W2921325762 title "High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems" @default.
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• W2921325762 doi "https://doi.org/10.1109/tie.2019.2903778" @default.
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