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Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot

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.



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.

Item Type:Article
Uncontrolled Keywords:Two-wheels inverted pendulum, sliding mode control, nonlinear controller
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:1657
Deposited By: Dr Zaharuddin Mohamed
Deposited On:09 Mar 2007 07:57
Last Modified:19 Oct 2017 03:30

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