Sliding mode control for two wheeled inverted pendulum under terrain inclination and disturbances

A robust sliding mode controller is developed for the tracking control of two wheeled inverted pendulum subject to terrain inclination and disturbances. Firstly, a modeling of two wheeled inverted pendulum on inclined plane has been developed without referring to linearization. Second, our method is founded on the continuous approximation around the switching surface so as to minimize the chattering phenomenon. Third, the proof of the closed loop system stability is illustrated through Lyapunov analysis. Finally, numerical simulations emphasize the efficiency of the designed controller applied on two wheeled inverted pendulum in the presence of disturbances and terrain inclination.