The design of VSC with disturbance compensation based on two-wheeled unstable vehicle

The chattering is inevitable in using Variable Structure Controller (VSC) to control two-wheeled unstable vehicle. Although the traditional methods which are improved the reaching law and the switching surface effectively impair the chattering, they impair the anti-interfering of VSC at same time. To solve this problem, the dynamic pseudo sliding mode control with disturbance compensation term is designed in this paper, which not only effectively impairs the chattering, but also improve the anti-interfering ability.