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Controller design for two-wheels inverted pendulum mobile robot using PISMC

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


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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