Terminal sliding mode control of mobile wheeled inverted pendulum system with nonlinear disturbance observer (Q1718043)

Summary: 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.