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|
|Deposited By:||Norhafizah Hussin|
|Deposited On:||05 Jan 2009 04:58|
|Last Modified:||01 Jun 2010 15:52|
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