Universiti Teknologi Malaysia Institutional Repository

Two-wheeled balancing robot

Nawawi, Sophan Wahyudi and Mohammad Noh, Ahmad and Shah Osman, Johari Halim (2008) Two-wheeled balancing robot. In: Special topics on mechatronic system design and application. Penerbit UTM, Johor, pp. 98-118. ISBN 978-983-52-0674-0

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Official URL: http://www.penerbit.utm.my/bookchapterdoc/FKE/book...

Abstract

The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world [1]-[7]. This chapter describes the hardware design of such a robot. The objective of the design is to develop a T-WIP mobile robot as well as MATLAB® interfacing configuration to be used as flexible platform which comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLAB Real Time Workshop coding, modeling and control scheme is addressed and discussed. The system is then tested using a well-known state feedback controller to verify its functionality.

Item Type:Book Section
Uncontrolled Keywords:two-wheeled inverted pendulum (T-WIP), robot
Subjects:T Technology > T Technology (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:28056
Deposited By: Fazli Masari
Deposited On:05 Sep 2012 10:18
Last Modified:05 Sep 2012 10:18

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