Controller design for two wheels inverted pendulum mobile robot using linear controller
The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade at research, industrial and hobby level around the world. This paper deals with the modeling of 2- wheels Inverted Pendulum and the design of Proportional Integral Sliding Mode Contr...
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my.utm.138702017-09-14T02:58:31Z http://eprints.utm.my/id/eprint/13870/ Controller design for two wheels inverted pendulum mobile robot using linear controller Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Shah Osman, Johari Halim TK Electrical engineering. Electronics Nuclear engineering The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade at research, industrial and hobby level around the world. This paper deals with the modeling of 2- wheels Inverted Pendulum and the design of Proportional Integral Sliding Mode Control (PISMC) for the system. The mathematical model of 2-wheels inverted pendulum system which is highly nonlinear is derived. The final model is then represented in state-space. A robust controller based on Sliding Mode Control is proposed to perform the robust stabilization and disturbance rejection of the system. A computer simulation study is carried out to access the performance of the proposed control law. 2007 Conference or Workshop Item PeerReviewed Nawawi, Sophan Wahyudi and Ahmad, Mohamad Noh and Shah Osman, Johari Halim (2007) Controller design for two wheels inverted pendulum mobile robot using linear controller. In: International Conference On Control, Instrumentation & Mechatronics (CIM'07), 2007, Persada Johor International Convention Centre, Johor Bahru Johor. |
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TK Electrical engineering. Electronics Nuclear engineering Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Shah Osman, Johari Halim Controller design for two wheels inverted pendulum mobile robot using linear controller |
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The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade at research, industrial and hobby level around the world. This paper deals with the modeling of 2- wheels Inverted Pendulum and the design of Proportional Integral Sliding Mode Control (PISMC) for the system. The mathematical model of 2-wheels inverted pendulum system which is highly nonlinear is derived. The final model is then represented in state-space. A robust controller based on Sliding Mode Control is proposed to perform the robust stabilization and disturbance rejection of the system. A computer simulation study is carried out to access the performance of the proposed control law. |
format |
Conference or Workshop Item |
author |
Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Shah Osman, Johari Halim |
author_facet |
Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Shah Osman, Johari Halim |
author_sort |
Nawawi, Sophan Wahyudi |
title |
Controller design for two wheels inverted pendulum mobile robot using linear controller |
title_short |
Controller design for two wheels inverted pendulum mobile robot using linear controller |
title_full |
Controller design for two wheels inverted pendulum mobile robot using linear controller |
title_fullStr |
Controller design for two wheels inverted pendulum mobile robot using linear controller |
title_full_unstemmed |
Controller design for two wheels inverted pendulum mobile robot using linear controller |
title_sort |
controller design for two wheels inverted pendulum mobile robot using linear controller |
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2007 |
url |
http://eprints.utm.my/id/eprint/13870/ |
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1643646286716469248 |
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13.160551 |