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NTIS 바로가기International journal of robust and nonlinear control, v.31 no.8, 2021년, pp.2882 - 2904
Do, Van‐Thach (Department of Mechanical Engineering, Kyung Hee University, Yongin‐) , Lee, Soon‐Geul (si, Republic of Korea) , Van, Mien (Department of Mechanical Engineering, Kyung Hee University, Yongin‐)
AbstractThis research proposes a nonlinear adaptive controller based on a hierarchical sliding mode control (HSMC) framework to stabilize the operation of a ridable ballbot based on the full nonlinear dynamics (FND). The FND of ballbots is a multiple‐input‐multiple‐output underactu...
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