Universiti Teknologi Malaysia Institutional Repository

Controller design for two wheels inverted pendulum mobile robot using linear controller

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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Abstract

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.

Item Type:Conference or Workshop Item (Paper)
Additional Information:2008 Asia Pacific Conference On Applied Electromagnetics Proceeding
Uncontrolled Keywords:Controller design, mobile robot
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:13870
Deposited By: Mrs Liza Porijo
Deposited On:15 Aug 2011 05:54
Last Modified:14 Sep 2017 02:58

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