Universiti Teknologi Malaysia Institutional Repository

Real time control for two-wheels inverted pendulum mobile robot

W., Nawawi S. and N., Ahmad M. and S., Osman J. H. (2008) Real time control for two-wheels inverted pendulum mobile robot. International Journal of Computer Information and systems Science and Engineering, 2 (1). pp. 70-76. ISSN 2070-3732

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Abstract

The research on two-wheeled inverted pendulum (TWIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world. This paper describes the hardware design of such a robot. The objective of the design is to develop a TWIP mobile robot as well as MATLAB interfacing configuration to be used as flexible platform 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 will be addressed and discussed. The system is then tested using a wellknown state feedback controller to verify its functionality.

Item Type:Article
Uncontrolled Keywords:embedded system, two-wheeled inverted pendulum mobile robot
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:8629
Deposited By: Norshiela Buyamin
Deposited On:06 May 2009 04:22
Last Modified:02 Jun 2010 01:56

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