Super Twisting Algorithm for Two Wheeled Inverted Pendulum with Unmeasured State

In this paper, a super twisting algorithm has been formulated for the tracking control of a two-wheeled inverted pendulum subject to external disturbances. Initially, a model of the two-wheeled inverted pendulum was established without resorting to linearization. Subsequently, a high gain observer was been designed for the two wheeled self balancing robot in order to estimate unmeasured states. Then, the designed High Gain Observer was combined with the Super Twisting algorithm to obtain a robust controller that is able to achieve the tracking objectives and to compensate the presence of disturbances. The stability of the closed-loop system is methodically substantiated through rigorous Lyapunov analysis. Numerical simulations meticulously underscore the performance of the implemented controller in the presence of disturbances.