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Real time control for two-wheels inverted pendulum mobile robot

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 deve...

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Main Authors: Nawawi, S. W., Ahmad, M. N., Osman, J. H. S.
Format: Article
Language:English
Published: World Academy of Science, Engineering and Technology 2008
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/8629/1/SWNawawi2008-Real-time_Control_of_a_Two-Wheeled.pdf
http://eprints.utm.my/id/eprint/8629/
http://www.waset.org/ijcisse/former.html
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spelling my.utm.86292017-03-27T07:36:34Z http://eprints.utm.my/id/eprint/8629/ Real time control for two-wheels inverted pendulum mobile robot Nawawi, S. W. Ahmad, M. N. Osman, J. H. S. TK Electrical engineering. Electronics Nuclear engineering 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. World Academy of Science, Engineering and Technology 2008 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/8629/1/SWNawawi2008-Real-time_Control_of_a_Two-Wheeled.pdf Nawawi, S. W. and Ahmad, M. N. and Osman, J. H. S. (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 http://www.waset.org/ijcisse/former.html
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/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Nawawi, S. W.
Ahmad, M. N.
Osman, J. H. S.
Real time control for two-wheels inverted pendulum mobile robot
description 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.
format Article
author Nawawi, S. W.
Ahmad, M. N.
Osman, J. H. S.
author_facet Nawawi, S. W.
Ahmad, M. N.
Osman, J. H. S.
author_sort Nawawi, S. W.
title Real time control for two-wheels inverted pendulum mobile robot
title_short Real time control for two-wheels inverted pendulum mobile robot
title_full Real time control for two-wheels inverted pendulum mobile robot
title_fullStr Real time control for two-wheels inverted pendulum mobile robot
title_full_unstemmed Real time control for two-wheels inverted pendulum mobile robot
title_sort real time control for two-wheels inverted pendulum mobile robot
publisher World Academy of Science, Engineering and Technology
publishDate 2008
url http://eprints.utm.my/id/eprint/8629/1/SWNawawi2008-Real-time_Control_of_a_Two-Wheeled.pdf
http://eprints.utm.my/id/eprint/8629/
http://www.waset.org/ijcisse/former.html
_version_ 1643645032020836352
score 13.222552

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