Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
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 Full Order Sliding Mode Control (FOSMC) for th...
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| Format: | Conference or Workshop Item |
| Language: | en |
| Published: |
2006
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| Online Access: | http://eprints.utm.my/2122/1/Nawawi06_Control_of_Two-Wheels.pdf http://eprints.utm.my/2122/ |
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| _version_ | 1845470618316701696 |
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| author | Nawawi, S. W. Osman, Johari H. S. |
| author_facet | Nawawi, S. W. Osman, Johari H. S. |
| author_sort | Nawawi, S. W. |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | 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 Full Order Sliding Mode Control (FOSMC) for the system. The mathematical model of 2-wheels inverted pendulum system that 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. |
| format | Conference or Workshop Item |
| id | my.utm.eprints-2122 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2006 |
| record_format | eprints |
| spelling | my.utm.eprints-21222012-04-18T10:34:47Z http://eprints.utm.my/2122/ Control of two-wheels inverted pendulum mobile robot using full order sliding mode control Nawawi, S. W. Osman, Johari H. S. TK Electrical engineering. Electronics Nuclear engineering 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 Full Order Sliding Mode Control (FOSMC) for the system. The mathematical model of 2-wheels inverted pendulum system that 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. 2006 Conference or Workshop Item NonPeerReviewed application/pdf en http://eprints.utm.my/2122/1/Nawawi06_Control_of_Two-Wheels.pdf Nawawi, S. W. and Osman, Johari H. S. (2006) Control of two-wheels inverted pendulum mobile robot using full order sliding mode control. In: Proceedings of International Conference on Man-Machine Systems, September 15-16 2006, Langkawi. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nawawi, S. W. Osman, Johari H. S. Control of two-wheels inverted pendulum mobile robot using full order sliding mode control |
| title | Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
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| title_full | Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
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| title_fullStr | Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
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| title_full_unstemmed | Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
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| title_short | Control of two-wheels inverted pendulum mobile robot using full order sliding mode control
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| title_sort | control of two-wheels inverted pendulum mobile robot using full order sliding mode control |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/2122/1/Nawawi06_Control_of_Two-Wheels.pdf http://eprints.utm.my/2122/ |
| url_provider | http://eprints.utm.my/ |