High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jcse/volume-2015/680809/figures/680809.fig.008a.svgz" name="680809.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Position response of Joint 1 (HOSMC)</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jcse/volume-2015/680809/figures/680809.fig.008b.svgz" name="680809.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Position response of Joint 1 (HOSM synchronous controller)</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/jcse/volume-2015/680809/figures/680809.fig.008c.svgz" name="680809.fig.008c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Position response of Joint 2 (HOSMC)</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/jcse/volume-2015/680809/figures/680809.fig.008d.svgz" name="680809.fig.008d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Position response of Joint 2 (HOSM synchronous controller)</td></tr></table>

<div>Position responses under inertia uncertainties.</div>

Journal of Control Science and Engineering

fig8

Figure 8

Figure 8: High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot 