Finite-time disturbance Observer Based Active Anti-disturbance Control for Disturbed Inverted Pendulum System

The balance control problem of disturbed inverted pendulum systems is investigated. Most of the existing advanced control methods for disturbed inverted pendulum systems are developed only to suppress constant or bounded disturbances. This results in a degradation of system performance when meeting severe disturbances. To this end, a finite-time disturbance observer is developed to estimate time-varying disturbances. Then, an integral terminal sliding mode controller is designed for the inverted pendulum system. Based on the finite-time disturbance observer and the integral terminal sliding mode technique, a composite controller with finite-time convergence is proposed, which rejects the time-varying disturbances and alleviates the chattering. The simulation results on the inverted pendulum system are presented to demonstrate the advantage and effectiveness of the proposed method.