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- W4387588207 abstract "This paper presents an equilibrium-compensation-based sliding mode control scheme for achieving accurate steering angle tracking in a single-track two-wheeled robot subject to mismatched disturbances. To mitigate the impact of these disturbances, we propose a novel module called the equilibrium compensator. Additionally, to deal with the non-minimum phase characteristic of the system, the output redefinition method is employed to transform the system into a minimum phase system. A nominal sliding mode controller is then designed for the external subsystem, and an extended state observer is utilized to estimate the system state and disturbance. Altogether, accurate steering tracking is achieved by applying the nominal sliding mode controller to the compensated state. The effectiveness of the proposed control scheme is validated through experiments conducted on a robot prototype." @default.
- W4387588207 created "2023-10-13" @default.
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- W4387588207 date "2023-01-01" @default.
- W4387588207 modified "2023-10-14" @default.
- W4387588207 title "Equilibrium-Compensation-Based Sliding Mode Control for Accurate Steering Tracking of a Single-Track Two-Wheeled Robot" @default.
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- W4387588207 doi "https://doi.org/10.1007/978-981-99-6501-4_17" @default.
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