Abstract
A terminal sliding mode controller with nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. In order to eliminate the main drawback of the sliding mode control, “chattering” phenomenon, and for compensation of the model uncertainties and external disturbance, we designed a nonlinear disturbance observer of the mobile wheeled inverted pendulum system. Based on the nonlinear disturbance observer, a terminal sliding mode controller is also proposed. The stability of the closed-loop mobile wheeled inverted pendulum system is proved by Lyapunov theorem. Simulation results show that the terminal sliding mode controller with nonlinear disturbance observer can eliminate the “chattering” phenomenon, improve the control precision, and suppress the effects of external disturbance and model uncertainties effectively.
Highlights
Mobile wheeled inverted pendulum- (MWIP-) based robots are able to provide effective physical assistance to humans in various activities such as delivery and touring
We proposed a terminal sliding mode controller with nonlinear disturbance observer (TSMCNDO) for the balance control of an MWIP system
The balance control simulation results of the MWIP system with uncertainties and disturbances using the linear quadratic regulator (LQR), the Terminal sliding mode control (TSMC) given by [14], and the TSMCNDO proposed in this paper are shown in Figures 2, 3, 4, and 5
Summary
Mobile wheeled inverted pendulum- (MWIP-) based robots are able to provide effective physical assistance to humans in various activities such as delivery and touring. The sliding mode control (SMC) approach seems an appropriate control method to deal with uncertain MWIP systems because SMC is less sensitive to model uncertainty and noise disturbances. Bayramoglu and Komurcugil [15, 16] proposed a nonsingular decoupled terminal sliding mode control (NDTSMC) method for a class of underactuated fourth-order nonlinear systems. Yang et al [21], for systems with mismatched uncertainties, proposed a sliding mode control approach by using a novel sliding surface based on a disturbance observer. We proposed a terminal sliding mode controller with nonlinear disturbance observer (TSMCNDO) for the balance control of an MWIP system. In the rest of this paper, (̂⋅) denotes a nominal value of (⋅)
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