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This study demonstrates how load estimation improves control efficiency in pendubots, suggesting HSMC could enhance performance.
This study integrates varying‐load estimation with hierarchical sliding‐mode control (HSMC) for a Pendubot using a swarm‐intelligence algorithm. A nonlinear Pendubot model with static load parameters is optimized to minimize estimation error, and the resulting estimates inform an HSMC scheme that compensates disturbances and uncertainties—simulations show marked improvements in stability, accuracy, and control efficiency.
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Thái et al. (2025) studied this question.
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