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Journal of Control Science and Engineering
Volume 2015, Article ID 680809, 16 pages
Research Article

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

School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China

Received 27 April 2015; Revised 3 September 2015; Accepted 9 September 2015

Academic Editor: Hung-Yuan Chung

Copyright © 2015 Juanxiu Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpose, a proper controller is designed, which can improve the performance of the system under conditions of uncertainties and torque perturbations and also can guarantee the synchronization of the system. Firstly, a robust high-order sliding mode control law is designed to track the desired position trajectories effectively. Secondly, considering the coordination of the multiple joints, a high-order sliding mode synchronization controller is designed to reduce the synchronization errors and tracking errors based on the controller designed previously. Stability of the closed-loop system is proved by Lyapunov theory. The simulation is performed by MATLAB to verify the effectiveness of the proposed controller. By comparing the simulation results of two controllers, it is obvious that the proposed scheme has better performance and stronger robustness.