Hierarchical sliding mode control for an underactuated mimo system

Authors

  • Van Dong Hai Nguyen HCMC University of Technology and Education, Vietnam
  • Xuan Dung Huynh HCMC University of Technology and Education, Vietnam
  • Minh Tam Nguyen HCMC University of Technology and Education, Vietnam
  • Mircea Ivanescu University of Craiova (UCV), Romania
  • Mircea Nitulescu University of Craiova (UCV), Romania

Corressponding author's email:

hainvd@hcmute.edu.vn

Keywords:

athlete robot, balance control, Euler-Lagrange, hierarchical sliding mode control, under-actuated MIMO system

Abstract

The paper proposed a balancing control for MIMO under-actuated systems. In this paper, human walking robots, the athlete robot, are researched. The dynamic equations of this model are generated by Euler Lagrange method. The balancing control on the stance phase is studied. Balancing on one leg is a basic behavior of athlete in order to developing other behavior controlling. The hierarchical sliding mode control algorithm is proposed. Numerical simulations show the method efficiency and robustness

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References

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Published

30-05-2018

How to Cite

[1]
V. D. H. . Nguyen, X. D. Huynh, M. T. . Nguyen, Mircea Ivanescu, and Mircea Nitulescu, “Hierarchical sliding mode control for an underactuated mimo system”, JTE, vol. 13, no. 3, pp. 9–17, May 2018.

Issue

Vol. 13 No. 3 (2018)

Section

Research Article

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