Adaptive hierarchical sliding mode control for full nonlinear dynamics of uncertain ridable ballbots under input saturation

This research proposes a nonlinear adaptive controller based on hierarchical sliding mode control (HSMC) framework to stabilize the operation of ridable ballbot full dynamics (FND). The FND ballbots is multiple-input-multiple-output underactuated system with non-invertible input matrix. By applying novel approach transform into two subsystems, invertibility matrix transformed subsystems can be guaranteed. Thus, an HSMC scheme applied stabilizing subsystems. In addition, improve robustness HSMC, new law proposed deal effects exogenous disturbances and parameter variations modeled dynamics. Chattering actuator saturation phenomena are also reduced or avoided controller. Comparative simulations conducted demonstrate merit features developed algorithm.