Songhyok Ri

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In this study, a dynamic surface controller based on a nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. By using a coordinate transformation, the underactuated system is presented as a semi-strict feedback form which is convenient for controller design. A dynamic surface controller together with a nonlinear(More)
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(More)
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