Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking
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 characteris...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-03-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/13/7/4350 |
| _version_ | 1797608304363438080 |
|---|---|
| author | Ming Hou Xuedong Zhang Du Chen Zheng Xu |
| author_facet | Ming Hou Xuedong Zhang Du Chen Zheng Xu |
| author_sort | Ming Hou |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-11T05:42:35Z |
| format | Article |
| id | doaj.art-204f77ef8a8844c899ccf8aa3afc4e68 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T05:42:35Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-204f77ef8a8844c899ccf8aa3afc4e682023-11-17T16:19:06ZengMDPI AGApplied Sciences2076-34172023-03-01137435010.3390/app13074350Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory TrackingMing Hou0Xuedong Zhang1Du Chen2Zheng Xu3School of Automation, Beijing Information Science & Technology University, Beijing 100192, ChinaSchool of Automation, Beijing Information Science & Technology University, Beijing 100192, ChinaSchool of Automation, Beijing Information Science & Technology University, Beijing 100192, ChinaSchool of Automation, Beijing Information Science & Technology University, Beijing 100192, ChinaA 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.https://www.mdpi.com/2076-3417/13/7/4350wheeled inverted pendulum robotunderactuatednonlinear disturbance observerhierarchical sliding mode control |
| spellingShingle | Ming Hou Xuedong Zhang Du Chen Zheng Xu Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking Applied Sciences wheeled inverted pendulum robot underactuated nonlinear disturbance observer hierarchical sliding mode control |
| title | Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking |
| title_full | Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking |
| title_fullStr | Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking |
| title_full_unstemmed | Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking |
| title_short | Hierarchical Sliding Mode Control Combined with Nonlinear Disturbance Observer for Wheeled Inverted Pendulum Robot Trajectory Tracking |
| title_sort | hierarchical sliding mode control combined with nonlinear disturbance observer for wheeled inverted pendulum robot trajectory tracking |
| topic | wheeled inverted pendulum robot underactuated nonlinear disturbance observer hierarchical sliding mode control |
| url | https://www.mdpi.com/2076-3417/13/7/4350 |
| work_keys_str_mv | AT minghou hierarchicalslidingmodecontrolcombinedwithnonlineardisturbanceobserverforwheeledinvertedpendulumrobottrajectorytracking AT xuedongzhang hierarchicalslidingmodecontrolcombinedwithnonlineardisturbanceobserverforwheeledinvertedpendulumrobottrajectorytracking AT duchen hierarchicalslidingmodecontrolcombinedwithnonlineardisturbanceobserverforwheeledinvertedpendulumrobottrajectorytracking AT zhengxu hierarchicalslidingmodecontrolcombinedwithnonlineardisturbanceobserverforwheeledinvertedpendulumrobottrajectorytracking |