Nonlinear Disturbance Observer-Based Dynamic Surface Control of Mobile Wheeled Inverted Pendulum

Abstract

In this brief, a dynamic model of a mobile wheeled inverted pendulum (MWIP) system is improved considering friction forces, and a nonlinear disturbance observer (NDO)-based dynamic surface controller is investigated to control the MWIP system. Using a coordinate transformation, this non-Class-I type underactuated system is presented as a semistrict feedback form, which is convenient for dynamic surface controller design. A dynamic surface controller together with an NDO is designed to stabilize the underactuated plant. The proposed approach can compensate the external disturbances and the model uncertainties to improve the system performance significantly. The stability of the closed-loop MWIP system is proved by Lyapunov theorem. Experiment results are presented to illustrate the feasibility and efficiency of the proposed method.Index Terms-Dynamic surface control (DSC), mobile wheeled inverted pendulum (MWIP), nonlinear disturbance observer (NDO), robust control, underactuated mechanical system.

An improved adaptive dynamic surface control approach for uncertain nonlinear systems

“…3 After more than 10 years of development, the DSC design framework has enjoyed widespread applications in various types of dynamical systems, ranging from linear systems, [4][5][6] to strict-/semi-strict feedback uncertain systems, 7-13 to pure-feedback or nonaffine systems, [14][15][16][17][18] to constrained systems, [19][20][21][22] and to many more complex systems such as fault-tolerant systems, 23,24 stochastic systems, 25,26 and large-scale interconnected systems. Besides theoretical contributions, relevant applications of DSC can also be found in different areas of science and technology, such as the control for integrated missile guidance and autopilot, 34,35 mobile-wheeled inverted pendulum, 36 servo mechanisms, 37,38 and formations of autonomous surface vehicles. Aiming to improve the transient performance, Peng et al 13 developed a predictor-based NN-DSC design method for uncertain strict-feedback systems.…”

“…Aiming to improve the transient performance, Peng et al 13 developed a predictor-based NN-DSC design method for uncertain strict-feedback systems. Besides theoretical contributions, relevant applications of DSC can also be found in different areas of science and technology, such as the control for integrated missile guidance and autopilot, 34,35 mobile-wheeled inverted pendulum, 36 servo mechanisms, 37,38 and formations of autonomous surface vehicles. 39,40 It is worth noting that although DSC technique is being increasingly used in control society, the obtained results are still conservative.…”

Adaptive dynamic surface asymptotic tracking for a class of uncertain nonlinear systems

“…[41][42][43][44][45][46][47][48][49][50][51] Meanwhile, DSC methodologies have been successfully applied to many practical systems. [52][53][54][55][56][57][58][59] It is worth mentioning that, as revealed in the work of Pan and Yu, 60 because of the use of linear low-pass filters, boundary layer errors are introduced into DSC systems resulting in large tracking-error bounds and degraded tracking accuracy. More recently, instead of using the linear filters, several DSC methods have been addressed to improve the control performance.…”

Command filtered back-stepping missile integrated guidance and autopilot based on extended state observer

“…For high-order nonlinear system model in literatures, [9][10][11][12] back-stepping technique is a useful tool, which is always combined with SMC and disturbance observer. In Huang et al, 9 the nonlinear disturbance observer is implemented to estimate the nonlinearities, uncertainties, and disturbances in the system dynamics, thus the decrease in undesired chattering in control is achieved and the robustness of closed-loop system is enhanced. In Guo et al, 10 the extended state observers (ESOs) are used to estimate indirectly measured states and various parametric uncertainties.…”