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Stability of a two wheels mobile robot using robust control

The research on two wheels mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world, The objectives of this thesis are to present a modeling of a two wheels mobile robot and the design of Sliding Mode Control (...

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Main Author: Halim Zakaria, Othman
Format: Undergraduates Project Papers
Language:English
Published: 2009
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://umpir.ump.edu.my/id/eprint/33181/1/Stability%20of%20a%20two%20wheels%20mobile%20robot.pdf
http://umpir.ump.edu.my/id/eprint/33181/
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spelling my.ump.umpir.331812022-01-12T04:07:53Z http://umpir.ump.edu.my/id/eprint/33181/ Stability of a two wheels mobile robot using robust control Halim Zakaria, Othman TJ Mechanical engineering and machinery The research on two wheels mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world, The objectives of this thesis are to present a modeling of a two wheels mobile robot and the design of Sliding Mode Control (SMC) for the system. A robust controller based on Sliding Mode Control is proposed to perform the robust stabilization and disturbance rejection of the system. In order to compensate the disturbances, position, speed, angle and angle rate of the two wheels mobile robot will be observed. The performance of the proposed controller will be compared to the pole placement techniques. A computer simulation study is carried out to access the performance of the proposed control law. 2009-11 Undergraduates Project Papers NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/33181/1/Stability%20of%20a%20two%20wheels%20mobile%20robot.pdf Halim Zakaria, Othman (2009) Stability of a two wheels mobile robot using robust control. Faculty of Electrical & Electronics Engineering, Universiti Malaysia Pahang.
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Halim Zakaria, Othman
Stability of a two wheels mobile robot using robust control
description The research on two wheels mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world, The objectives of this thesis are to present a modeling of a two wheels mobile robot and the design of Sliding Mode Control (SMC) for the system. A robust controller based on Sliding Mode Control is proposed to perform the robust stabilization and disturbance rejection of the system. In order to compensate the disturbances, position, speed, angle and angle rate of the two wheels mobile robot will be observed. The performance of the proposed controller will be compared to the pole placement techniques. A computer simulation study is carried out to access the performance of the proposed control law.
format Undergraduates Project Papers
author Halim Zakaria, Othman
author_facet Halim Zakaria, Othman
author_sort Halim Zakaria, Othman
title Stability of a two wheels mobile robot using robust control
title_short Stability of a two wheels mobile robot using robust control
title_full Stability of a two wheels mobile robot using robust control
title_fullStr Stability of a two wheels mobile robot using robust control
title_full_unstemmed Stability of a two wheels mobile robot using robust control
title_sort stability of a two wheels mobile robot using robust control
publishDate 2009
url http://umpir.ump.edu.my/id/eprint/33181/1/Stability%20of%20a%20two%20wheels%20mobile%20robot.pdf
http://umpir.ump.edu.my/id/eprint/33181/
_version_ 1724073505491779584
score 13.211869

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