Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking

Author:

Hou Ming1,Zhang Xuedong1,Chen Du1,Xu Zheng1

Affiliation:

1. School of Automation, Beijing Information Science & Technology University, Beijing 100192, China

Abstract

A proposed optimized model for the trajectory tracking control of a wheeled inverted pendulum robot (WIPR) system is presented in this study, which addresses the problem of poor trajectory tracking performance in the presence of unknown disturbances due to the nonlinear and underactuated characteristics of the system. First, a kinematic controller was used to track a reference trajectory and generate a control law that specifies the desired forward and rotation speeds of the system. Next, a nonlinear disturbance observer (NDO) was designed to enhance the system’s robustness to external disturbances and improve its tracking performance. Then, the coupled system state variables were decoupled into two subsystems: a forward rotation subsystem and a tilt angle velocity subsystem. An improved hierarchical sliding mode controller was designed to control these subsystems separately. Finally, simulation experiments were conducted to compare the proposed method with a common sliding mode control approach. The simulation results demonstrate that the proposed method achieves better tracking performance in the presence of unknown disturbances.

Funder

National Natural Science Foundation of China

Key Incubation Project of Beijing University of Information Science and Technology

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

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