Research Article
High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot
Figure 9
Simulation results with inertia uncertainties.
| (a) Position error of Joint 1 (HOSMC) |
| (b) Position error of Joint 1 (HOSM synchronous controller) |
| (c) Position error of Joint 2 (HOSMC) |
| (d) Position error of Joint 2 (HOSM synchronous controller) |
| (e) Synchronization error (HOSMC) |
| (f) Synchronization error (HOSM synchronous controller) |