Load Variation Estimation and Hierarchical Sliding Mode Control for Pendubot Using Swarm Algorithm
This study integrates varying‐load estimation with hierarchical sliding‐mode control (HSMC) for a Pendubot using a swarm‐intelligence algorithm. A nonlinear Pendubot model with static load parameters is optimized to minimize estimation error, and the resulting estimates inform an HSMC scheme that compensates disturbances and uncertainties—simulations show marked improvements in stability, accuracy, and control efficiency.
Authors
- Trần Thành Thái (ORCID: https://orcid.org/0000-0002-2866-8913)
- Dinh Phu Nguyen (ORCID: https://orcid.org/0009-0001-4761-4777)
- Xuan-Dung Huynh
- Tuyet Truong (ORCID: https://orcid.org/0000-0002-3266-8801)
- Q.H. Nguyen
- Anh-Duy Nguyen
- N.T. Do
- Duc-Anh-Quan Nguyen
Publication Details
- Journal
- Robotica & Management
- Published
- 2025-01-01
- DOI
- https://doi.org/10.24193/rm.2025.1.5
- Primary Topic
- Control and Dynamics of Mobile Robots
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- Ho Chi Minh City University of Technology and Education