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Controller design for two-wheels inverted pendulum vehicle using PISMC

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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Main Authors: Nawawi, S. W., Ahmad, M. N., Osman, J. H. S., Husain, A. R.
Format: Conference or Workshop Item
Language:English
Published: 2006
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
TL Motor vehicles. Aeronautics. Astronautics
Online Access:http://eprints.utm.my/id/eprint/227/1/NawawiSW2006_ControllerDesignforTwo-wheels.pdf
http://eprints.utm.my/id/eprint/227/
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spelling my.utm.2272012-04-18T10:36:01Z http://eprints.utm.my/id/eprint/227/ Controller design for two-wheels inverted pendulum vehicle using PISMC Nawawi, S. W. Ahmad, M. N. Osman, J. H. S. Husain, A. R. TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics 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. 2006-07 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/227/1/NawawiSW2006_ControllerDesignforTwo-wheels.pdf Nawawi, S. W. and Ahmad, M. N. and Osman, J. H. S. and Husain, A. R. (2006) Controller design for two-wheels inverted pendulum vehicle using PISMC. In: 1st Regional Conference on Vehicle Engineering & Technology, 3-5 July 2006, Kuala Lumpur, Malaysia.
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
TL Motor vehicles. Aeronautics. Astronautics
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
TL Motor vehicles. Aeronautics. Astronautics
Nawawi, S. W.
Ahmad, M. N.
Osman, J. H. S.
Husain, A. R.
Controller design for two-wheels inverted pendulum vehicle using PISMC
description 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, S. W.
Ahmad, M. N.
Osman, J. H. S.
Husain, A. R.
author_facet Nawawi, S. W.
Ahmad, M. N.
Osman, J. H. S.
Husain, A. R.
author_sort Nawawi, S. W.
title Controller design for two-wheels inverted pendulum vehicle using PISMC
title_short Controller design for two-wheels inverted pendulum vehicle using PISMC
title_full Controller design for two-wheels inverted pendulum vehicle using PISMC
title_fullStr Controller design for two-wheels inverted pendulum vehicle using PISMC
title_full_unstemmed Controller design for two-wheels inverted pendulum vehicle using PISMC
title_sort controller design for two-wheels inverted pendulum vehicle using pismc
publishDate 2006
url http://eprints.utm.my/id/eprint/227/1/NawawiSW2006_ControllerDesignforTwo-wheels.pdf
http://eprints.utm.my/id/eprint/227/
_version_ 1643643047407255552
score 13.160551

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