Abstract
AbstractIn this chapter, a novel high-order disturbance observer (HODO) for the mobile wheeled inverted pendulum (MWIP) system is first proposed. Based on a chosen method of optimal gain matrices, the estimation accuracy of the HODO can be improved. Combining the proposed HODO and sliding mode control (SMC), a new control strategy is designed for the balance and speed control of the MWIP system. The boundness of the estimation error of HODO is proved and the stability of the closed-loop control system is achieved through the appropriate selection of sliding surface coefficients. The effectiveness of all proposed methods is verified by simulations.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
