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Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot

In this paper the position and posture control for the wheeled inverse pendulum type mobile robot is discuss base on simulation result of two type of controller. The robot in this consideration has two independent driving wheels in same axis, and the gyro type sensor to know the inclination angular...

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Main Authors: Nawawi, S.W, Ahmad, M. N., Osman, Johari H. S.
Format: Article
Language:English
Published: School of Postgraduate Studies, UTM 2006
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/1657/1/JohariHS05_Variable_control.pdf
http://eprints.utm.my/id/eprint/1657/
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spelling my.utm.16572017-10-19T03:30:09Z http://eprints.utm.my/id/eprint/1657/ Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot Nawawi, S.W Ahmad, M. N. Osman, Johari H. S. TK Electrical engineering. Electronics Nuclear engineering In this paper the position and posture control for the wheeled inverse pendulum type mobile robot is discuss base on simulation result of two type of controller. The robot in this consideration has two independent driving wheels in same axis, and the gyro type sensor to know the inclination angular velocity of the body and rotary encoders to know wheels rotation. this paper will discuss the control algorithm to make the robot autonomously navigate in two dimensional plane while keeping balance its pole. School of Postgraduate Studies, UTM 2006-07-26 Article NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/1657/1/JohariHS05_Variable_control.pdf Nawawi, S.W and Ahmad, M. N. and Osman, Johari H. S. (2006) Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot. Regional Postgraduate Conference on Engineering and Science . pp. 197-201.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Nawawi, S.W
Ahmad, M. N.
Osman, Johari H. S.
Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot
description In this paper the position and posture control for the wheeled inverse pendulum type mobile robot is discuss base on simulation result of two type of controller. The robot in this consideration has two independent driving wheels in same axis, and the gyro type sensor to know the inclination angular velocity of the body and rotary encoders to know wheels rotation. this paper will discuss the control algorithm to make the robot autonomously navigate in two dimensional plane while keeping balance its pole.
format Article
author Nawawi, S.W
Ahmad, M. N.
Osman, Johari H. S.
author_facet Nawawi, S.W
Ahmad, M. N.
Osman, Johari H. S.
author_sort Nawawi, S.W
title Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot
title_short Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot
title_full Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot
title_fullStr Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot
title_full_unstemmed Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot
title_sort variable structure control of two-wheels inverted pendulum mobile robot
publisher School of Postgraduate Studies, UTM
publishDate 2006
url http://eprints.utm.my/id/eprint/1657/1/JohariHS05_Variable_control.pdf
http://eprints.utm.my/id/eprint/1657/
_version_ 1643643384067260416
score 13.160551

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