Dynamic Surface Control of Mobile Wheeled Inverted Pendulum Systems with Nonlinear Disturbance Observer

In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller desi...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 47; no. 3; pp. 4505 - 4510
Main Authors Ri, SongHyok, Huang, Jian, Wang, Yongji, Tao, Chunjing, Kim, JiYong, Pak, KyongChol
Format Journal Article
LanguageEnglish
Published 2014
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Summary:In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear disturbance observer is designed to stabilize the underactuated plant. The proposed dynamic surface controller with a nonlinear disturbance observer can compensate the external disturbances and the model uncertainties to improve the system performance significantly. The stability of the closed-loop mobile wheeled inverted pendulum system is proved by Lyapunov theorem. Simulation results show that the dynamic surface controller with a nonlinear disturbance observer can suppress the effects of external disturbances and model uncertainties effectively.
ISSN:1474-6670
DOI:10.3182/20140824-6-ZA-1003.01528