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) |