Sliding-mode velocity control of mobile-wheeled inverted-pendulum systems

Jian Huang, Zhi Hong Guan, Takayuki Matsuno, Toshio Fukuda, Kosuke Sekiyama

Research output: Contribution to journalArticlepeer-review

210 Citations (Scopus)


There has been increasing interest in a type of underactuated mechanical systems, mobile-wheeled inverted-pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust-velocity-tracking problem of the MWIP systems is investigated in this study. In the velocity-control problem, model uncertainties accompany uncertain equilibriums, which make the controller design become more difficult. Two sliding-mode-control (SMC) methods are proposed for the systems, both of which are capable of handling both parameter uncertainties and external disturbances. The asymptotical stabilities of the corresponding closed-loop systems are achieved through the selection of sliding-surface parameters, which are based on some rules. There is still a steady tracking error when the first SMC controller is used. By assuming a novel sliding surface, the second SMC controller is designed to solve this problem. The effectiveness of the proposed methods is finally confirmed by the numerical simulations.

Original languageEnglish
Article number5512655
Pages (from-to)750-758
Number of pages9
JournalIEEE Transactions on Robotics
Issue number4
Publication statusPublished - Aug 2010
Externally publishedYes


  • Mobile-wheeled inverted pendulum (MWIP)
  • robust control
  • sliding-mode control (SMC)
  • stability
  • underactuated systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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