Universiti Teknologi Malaysia Institutional Repository

Proportional integral sliding mode control of a two-wheeled balancing robot

Abdollah, Mohd. Fairus (2006) Proportional integral sliding mode control of a two-wheeled balancing robot. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering; Electrical-Mechatronics and Automatic Control.

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Abstract

The objectives of this thesis are to formulate a complete mathematical model of a two-wheeled balancing robot and to control this robot focusing only on balancing using Proportional Integral Sliding Mode Control (PISMC) approach. This robot which exhibits a nonlinear and unstable system dynamics will be modelled based on the inverted pendulum theory. Three types of disturbances will be exerted to the robot of which one of them is applied to the centre gravity of the robot whereas the other two are applied to the centre of both right and left wheels of the robot. The research work is undertaken in the following development stages. The development of the mathematical model of the robot, the design of the PISMC and finally the comparison results with the Statefeedback controller using MATLAB/Simulink as its platform. Through this comparison, it can be shown that the PISMC gives better performance as compared to the Statefeedback controller

Item Type:Thesis (Masters)
Additional Information:Thesis (Master of Engineering (Electrical - Mechatronics and Automatic Control)) - Universiti Teknologi Malaysia, 2006
Uncontrolled Keywords:Modeling of a two-wheeled balancing robot; Proportional Integral Sliding Mode Control (PISMC) approach
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Electrical Engineering
ID Code:2136
Deposited By: Ms Zalinda Shuratman
Deposited On:29 Mar 2007 00:39
Last Modified:02 Jul 2012 06:42

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