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Modified Dual Hierarchical Terminal Sliding Mode Control Design for Two-Wheeled Self-Balancing Robot
- Huaqiang Zhang,
- Norzalilah Mohamad Nor and
- Siti Nur Hanisah Umar
A modified dual hierarchical terminal sliding mode control (MDHTSMC) strategy is developed in this study for the control of a two-wheeled self-balancing robot (TWSBR). The control framework incorporates individually designed sliding surfaces within a...