Research Article
High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot
Figure 10
Position responses under inertia uncertainties and torque disturbance.
(a) Position response of Joint 1 (HOSMC) |
(b) Position response of Joint 1 (HOSM synchronous controller) |
(c) Position response of Joint 2 (HOSMC) |
(d) Position response of Joint 2 (HOSM synchronous controller) |