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There is a growing interest on narrow vehicles which can partially solve the parking, congestion and pollution issues associated with urban transportation. A novel narrow vehicle, UW-Car, which is based on a mobile wheeled inverted pendulum (MWIP) platform and a movable seat is proposed in the paper. The three dimensional dynamic model of the underactuated system running on the flat ground is derived...
Inverted pendulum is one of the most important plants to be researched to investigate the validity of various control strategies, it's a highly nonlinear, unstable system. In this paper, the friction force and viscous moment are considered in the modeling of the plant, the sliding mode control method is applied to the design of the control system of inverted pendulum, both traditional sliding mode...
This paper researches the application of variable structure control (VSC) on inverted pendulum. Give the designing of sliding mode control (SMC) controller based on VSC theory and prove that the sliding mode control is robust for system uncertain and exterior disturbing based on simulation and real time control and get well result, which prove it having practically value.
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