High-Order Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems

In this paper, a novel high-order disturbance observer (HODO) for the mobile wheeled inverted pendulum (MWIP) system is first proposed. Based on a choice method of optimal gain matrices, the estimation accuracy of the HODO can be improved. Combining the proposed HODO and sliding mode control (SMC),...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2020-03, Vol.67 (3), p.2030-2041
Main Authors: Huang, Jian, Zhang, Mengshi, Ri, Songhyok, Xiong, Caihua, Li, Zhijun, Kang, Yu
Format: Article
Language:English
Subjects:
Automation
Control stability
Control systems
Disturbance observer
Disturbance observers
Estimation error
mobile wheeled inverted pendulum (MWIP)
Pendulums
Sliding mode control
sliding mode control (SMC)
Speed control
Uncertainty
underactuated mechanical system
Wheels
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Summary:In this paper, a novel high-order disturbance observer (HODO) for the mobile wheeled inverted pendulum (MWIP) system is first proposed. Based on a choice 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 experiments on a real MWIP system.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2019.2903778