Cover Image

Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot

Literature review shows that, most of the linear controllers proposed for control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot are based on dynamic models that are linearized around a single operating point. Thus, this paper presents the controller design for a TWIP mobile robot based on i...

Full description

Saved in:
Bibliographic Details
Main Authors: Muhammad, Mustapha, Buyamin, Salinda, Bature, A. A.
Format: Article
Published: 2013
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/40932/
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.utm.40932
record_format eprints
spelling my.utm.409322017-08-22T04:49:54Z http://eprints.utm.my/id/eprint/40932/ Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot Muhammad, Mustapha Buyamin, Salinda Bature, A. A. TK Electrical engineering. Electronics Nuclear engineering Literature review shows that, most of the linear controllers proposed for control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot are based on dynamic models that are linearized around a single operating point. Thus, this paper presents the controller design for a TWIP mobile robot based on its multiple operating point linearized model. The nonlinear dynamical equations of motion of the TWIP mobile robot were firstly obtained. The nonlinear equations were then linearized around different operating points resulting in a number of linear models with each represented a local region of the original nonlinear system. Based on the multiple operating points linearized models a state feedback control scheme was proposed using pole placement technique for balancing and tracking control of the TWIP mobile robot. The performance of the proposed controller investigated in terms of reference command tracking, parameter variation and external disturbance rejection via simulations. The simulation result shows the effectiveness of the proposed control scheme. 2013 Article PeerReviewed Muhammad, Mustapha and Buyamin, Salinda and Bature, A. A. (2013) Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot. International Journal of Mechanical & Mechatronics Engineering (IJMME-IJENS), 13 (5). pp. 1-9. ISSN 2227-2771
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Muhammad, Mustapha
Buyamin, Salinda
Bature, A. A.
Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot
description Literature review shows that, most of the linear controllers proposed for control of a Two-Wheeled Inverted Pendulum (TWIP) mobile robot are based on dynamic models that are linearized around a single operating point. Thus, this paper presents the controller design for a TWIP mobile robot based on its multiple operating point linearized model. The nonlinear dynamical equations of motion of the TWIP mobile robot were firstly obtained. The nonlinear equations were then linearized around different operating points resulting in a number of linear models with each represented a local region of the original nonlinear system. Based on the multiple operating points linearized models a state feedback control scheme was proposed using pole placement technique for balancing and tracking control of the TWIP mobile robot. The performance of the proposed controller investigated in terms of reference command tracking, parameter variation and external disturbance rejection via simulations. The simulation result shows the effectiveness of the proposed control scheme.
format Article
author Muhammad, Mustapha
Buyamin, Salinda
Bature, A. A.
author_facet Muhammad, Mustapha
Buyamin, Salinda
Bature, A. A.
author_sort Muhammad, Mustapha
title Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot
title_short Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot
title_full Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot
title_fullStr Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot
title_full_unstemmed Multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot
title_sort multiple operating points model-based control of a two-wheeled inverted pendulum mobile robot
publishDate 2013
url http://eprints.utm.my/id/eprint/40932/
_version_ 1643650597940887552
score 13.211869

Similar Items