High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot

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Juanxiu Liu; Yifei Wu; Jian Guo; Qingwei Chen;
  • Publisher: Hindawi Publishing Corporation
  • Journal: Journal of Control Science and Engineering (issn: 1687-5249, eissn: 1687-5257)
  • Publisher copyright policies & self-archiving
  • Related identifiers: doi: 10.1155/2015/680809
  • Subject: TA1-2040 | Electronic computers. Computer science | Engineering (General). Civil engineering (General) | QA75.5-76.95 | Article Subject

For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpo... View more
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