Adaptive Mechanism Hierarchical Sliding Mode Control for Ballbot Systems

This research proposed an effective adaptive hierarchical sliding mode controller using an adaptive mechanism (AMHSMC) for the ballbot system. Based on Lyapunov theory, the adaptive mechanism formulates updating laws to estimate directly the uncertain model parameters. In this way, all the component matrices of ballbot's motion equation are recalculated by using these estimated parameters. This method not only maintains the stability of conventional HSMC but also enhances the system's robustness by approximating parameters that directly affect model change. The outstanding effectiveness and the fast adaptation of the proposed AMHSMC are illustrated in simulations with the ballbot system, and compared with conventional HSMC and another adaptive method.