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 problem poor performance presence unknown disturbances due to nonlinear and underactuated characteristics system. First, kinematic controller was used track reference generate law that specifies desired forward rotation speeds Next, disturbance observer (NDO) designed enhance system’s robustness external improve its performance. Then, coupled state variables were decoupled into two subsystems: subsystem tilt angle velocity subsystem. An improved hierarchical sliding mode these subsystems separately. Finally, simulation experiments conducted compare method with common approach. The results demonstrate achieves better disturbances.