Terminal Sliding Mode Control of Mobile Wheeled Inverted Pendulum System with Nonlinear Disturbance Observer

被引：16
作者：
Ri, SongHyok [1 ,2 ]
Huang, Jian [1 ]
Wang, Yongji [1 ]
Kim, MyongHo [2 ]
An, Sonchol [2 ]
机构：
[1] Huazhong Univ Sci & Technol, Sch Automat, Key Lab Minist Educ Image Proc & Intelligent Cont, Wuhan 430074, Hubei, Peoples R China
[2] Univ Sci & Technol, Fac Control Sci, Pyongyang 999093, South Korea
来源：
MATHEMATICAL PROBLEMS IN ENGINEERING | 2014年 / 2014卷
基金：
中国国家自然科学基金;
关键词：
VELOCITY; ROBOTS;
D O I：
10.1155/2014/284216
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
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页数：8
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