Hierarchical sliding-mode control of bicycle robot system

Dynamic model of the bicycle robot is made by methods based on Lagrangian and using multi-sliding surface of the Hierarchical sliding-mode method controls non-linear underactuated bicycle robot system. This method divided system states into two sub-systems. Two first-level sub-sliding planes are designed, and then the second-level sliding plane is constructed. The ultimate sliding-mode control law is obtained by using Lyapunov stability theorem. The Hierarchical sliding-mode controller have the bicycle robot controlled effectively, which has been verified in the simulation experiment.