Backstepping Sliding Mode Hover Control Based on Nonlinear Disturbance Observer for Spherical Robot

Abstract

Aiming at the hovering control problem of spherical robot used in transformer internal detection, a Backstepping sliding mode control method based on nonlinear disturbance observer was proposed to estimate and compensate the interference in robot motion direction. Firstly established the robot motion model, then the disturbance observer was constructed according to the system state equation, and the inverse sliding mode controller was proposed based on the Lyapunov stability theory. The simulation results showed that the designed nonlinear disturbance observer can effectively reduce the instability caused by the external disturbances in the horizontal and depth directions during the hovering process of the robot, it has strong robustness.