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.
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.
|Item Type:||Conference or Workshop Item (Paper)|
|Uncontrolled Keywords:||Two-wheels inverted pendulum, sliding mode control, mismatched condition.|
|Subjects:||T Technology > TK Electrical engineering. Electronics Nuclear engineering|
|Deposited By:||Dr Zaharuddin Mohamed|
|Deposited On:||26 Mar 2007 01:04|
|Last Modified:||18 Apr 2012 10:34|
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