Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade in a number of robotic laboratories around the world This paper deals with the modeling of 2-wheels Inverted Pendulum and the design of Full Order Sliding Mode Control (FOSMC) for th...
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2006
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Online Access: | http://eprints.utm.my/id/eprint/2122/1/Nawawi06_Control_of_Two-Wheels.pdf http://eprints.utm.my/id/eprint/2122/ |
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my.utm.21222012-04-18T10:34:47Z http://eprints.utm.my/id/eprint/2122/ Control of two-wheels inverted pendulum mobile robot using full order sliding mode control Nawawi, S. W. Osman, Johari H. S. 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 in a number of robotic laboratories around the world This paper deals with the modeling of 2-wheels Inverted Pendulum and the design of Full Order Sliding Mode Control (FOSMC) for the system. The mathematical model of 2-wheels inverted pendulum system that is highly nonlinear is derived. The final model is then represented in state-space form and the system suffers from mismatched condition. 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. 2006 Conference or Workshop Item NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/2122/1/Nawawi06_Control_of_Two-Wheels.pdf Nawawi, S. W. and Osman, Johari H. S. (2006) Control of two-wheels inverted pendulum mobile robot using full order sliding mode control. In: Proceedings of International Conference on Man-Machine Systems, September 15-16 2006, Langkawi. |
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TK Electrical engineering. Electronics Nuclear engineering Nawawi, S. W. Osman, Johari H. S. Control of two-wheels inverted pendulum mobile robot using full order sliding mode control |
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The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade in a number of robotic laboratories around the world This paper deals with the modeling of 2-wheels Inverted Pendulum and the design of Full Order Sliding Mode Control (FOSMC) for the system. The mathematical model of 2-wheels inverted pendulum system that is highly nonlinear is derived. The final model is then represented in state-space form and the system suffers from mismatched condition. 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, S. W. Osman, Johari H. S. |
author_facet |
Nawawi, S. W. Osman, Johari H. S. |
author_sort |
Nawawi, S. W. |
title |
Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
|
title_short |
Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
|
title_full |
Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
|
title_fullStr |
Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
|
title_full_unstemmed |
Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
|
title_sort |
control of two-wheels inverted pendulum mobile robot using full order sliding mode control |
publishDate |
2006 |
url |
http://eprints.utm.my/id/eprint/2122/1/Nawawi06_Control_of_Two-Wheels.pdf http://eprints.utm.my/id/eprint/2122/ |
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13.160551 |