Adaptive Observer-Based Sliding Mode Control for a Two-Wheeled Self-Balancing Robot under Terrain Inclination and Disturbances

Abstract

This paper investigates an output feedback sliding mode control scheme for a two-wheeled self-balancing robot under terrain inclination and disturbances. First of all, an adaptive high-gain observer is designed for the robot to estimate, simultaneously, the unmeasured states and the unknown terrain inclination angle which appears nonlinearly in the dynamics of the wheeled robot, using the only measured linear and angular positions. Then, the estimated states and the reconstructed unknown inclination angle are used by an appropriate continuously implemented sliding mode controller whose the design is based on the boundary layer approximation approach to reduce the chattering phenomenon. The objective of the proposed robust controller is to ensure the tracking control of the two-wheeled robot despite the unknown terrain inclination and the presence of friction disturbances. The stability of the adaptive observer-based output feedback system is established through a Lyapunov analysis, and it is inspired from sliding modes theory. Numerical simulations results highlight the effectiveness of the proposed tracking control scheme applied on two-wheeled self-balancing robot subject to terrain inclination even in the presence of unavailable disturbances.