Nawawi, Sophan Wahyudi and Ahmad, Mohamad Noh and Osman, Johari Halim Shah and Husain, Abdul Rashid and Abdollah, Mohd. Fairus (2006) Controller design for two-wheels inverted pendulum mobile robot using PISMC. In: Research and Development, 2006. SCOReD 2006. 4th Student Conference, 27-28 June 2006 , Selangor, Malaysia.
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Official URL: http://dx.doi.org/10.1109/SCORED.2006.4339337
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 proportional integral sliding mode control (PISMC) for the system. The mathematical model of 2-wheels inverted pendulum system which 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: | PISMC, balancing robot, controller design, disturbance rejection, proportional integral sliding mode control, robust controller, robust stabilization, state-space form, two-wheels inverted pendulum mobile robot |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 7448 |
| Deposited By: | Norhafizah Hussin |
| Deposited On: | 05 Jan 2009 04:58 |
| Last Modified: | 01 Jun 2010 15:52 |
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