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Mathematical Problems in Engineering
Volume 2014, Article ID 284216, 8 pages
http://dx.doi.org/10.1155/2014/284216
Research Article

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

1Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, School of Automation, Huazhong University of Science and Technology, No. 1037, Luoyu Road, Hongshan District, Wuhan, Hubei 430074, China
2Faculty of Control Science, University of Science and Technology, Unjong District, Pyongyang 999093, Democratic People's Republic of Korea

Received 6 June 2014; Accepted 30 August 2014; Published 29 September 2014

Academic Editor: Kang Li

Copyright © 2014 SongHyok Ri et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

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.