Controller design for two-wheels inverted pendulum mobile robot using PISMC
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 proportional integral sliding mode control (P...
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Main Authors: | , , , , |
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Format: | Conference or Workshop Item |
Language: | English |
Published: |
2006
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Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/7448/1/Johari_Halim_Shah_2006_Controller_Design_for_Two-wheels.pdf http://eprints.utm.my/id/eprint/7448/ http://dx.doi.org/10.1109/SCORED.2006.4339337 |
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Summary: | 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 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 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. |
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