Online Reinforcement-Learning-Based Adaptive Terminal Sliding Mode Control for Disturbed Bicycle Robots on a Curved Pavement
The reaction wheel is able to help improve the balancing ability of a bicycle robot on curved pavement. However, preserving good control performances for such a robot that is driving on unstructured surfaces under matched and mismatched disturbances is challenging due to the underactuated characteri...
Main Authors: | Xianjin Zhu, Yang Deng, Xudong Zheng, Qingyuan Zheng, Bin Liang, Yu Liu |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2022-10-01
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Series: | Electronics |
Subjects: | |
Online Access: | https://www.mdpi.com/2079-9292/11/21/3495 |
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