Robust control of reaction wheel bicycle robot via adaptive integral terminal sliding mode

In this paper, the modelling of a reaction wheel bicycle robot (RWBR) is identified from a second-order mathematical model which is similar to an inverted pendulum, and an adaptive integral terminal sliding mode (AITSM) control scheme is developed for balancing purpose of the RWBR. The proposed AITSM control scheme can not only stabilize the bicycle robot and reject external disturbances generated by uncertainties and unmodelled dynamics, but also eliminate the need of the required bound information in the control law via the designed adaptive laws. The experimental results verify the excellent performance of the proposed control scheme in terms of strong robustness, fast error convergence in comparison with other control schemes.