Universiti Teknologi Malaysia Institutional Repository

Control of two-wheels inverted pendulum mobile robot using full order sliding mode control

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.

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Abstract

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
Divisions:Electrical Engineering
ID Code:2122
Deposited By: Dr Zaharuddin Mohamed
Deposited On:26 Mar 2007 01:04
Last Modified:18 Apr 2012 10:34

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