Proportional integral sliding mode control of a two-wheeled balancing robot
The objectives of this thesis are to formulate a complete mathematical model of a two-wheeled balancing robot and to control this robot focusing only on balancing using Proportional Integral Sliding Mode Control (PISMC) approach. This robot which exhibits a nonlinear and unstable system dynamics wil...
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| Format: | Thesis |
| Language: | en |
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2006
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| Online Access: | http://eprints.utm.my/2136/1/MohdFairusAbdollahMFKE2006.pdf http://eprints.utm.my/2136/ |
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| _version_ | 1845470622409293824 |
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| author | Abdollah, Mohd. Fairus |
| author_facet | Abdollah, Mohd. Fairus |
| author_sort | Abdollah, Mohd. Fairus |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | The objectives of this thesis are to formulate a complete mathematical model of a two-wheeled balancing robot and to control this robot focusing only on balancing using Proportional Integral Sliding Mode Control (PISMC) approach. This robot which exhibits a nonlinear and unstable system dynamics will be modelled based on the inverted pendulum theory. Three types of disturbances will be exerted to the robot of which one of them is applied to the centre gravity of the robot whereas the other two are applied to the centre of both right and left wheels of the robot. The research work is undertaken in the following development stages. The development of the mathematical model of the robot, the design of the PISMC and finally the comparison results with the Statefeedback controller using MATLAB/Simulink as its platform. Through this comparison, it can be shown that the PISMC gives better performance as compared to the Statefeedback controller |
| format | Thesis |
| id | my.utm.eprints-2136 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2006 |
| record_format | eprints |
| spelling | my.utm.eprints-21362018-06-13T07:05:37Z http://eprints.utm.my/2136/ Proportional integral sliding mode control of a two-wheeled balancing robot Abdollah, Mohd. Fairus TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TK7885-7895 Computer engineer. Computer hardware The objectives of this thesis are to formulate a complete mathematical model of a two-wheeled balancing robot and to control this robot focusing only on balancing using Proportional Integral Sliding Mode Control (PISMC) approach. This robot which exhibits a nonlinear and unstable system dynamics will be modelled based on the inverted pendulum theory. Three types of disturbances will be exerted to the robot of which one of them is applied to the centre gravity of the robot whereas the other two are applied to the centre of both right and left wheels of the robot. The research work is undertaken in the following development stages. The development of the mathematical model of the robot, the design of the PISMC and finally the comparison results with the Statefeedback controller using MATLAB/Simulink as its platform. Through this comparison, it can be shown that the PISMC gives better performance as compared to the Statefeedback controller 2006-05 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/2136/1/MohdFairusAbdollahMFKE2006.pdf Abdollah, Mohd. Fairus (2006) Proportional integral sliding mode control of a two-wheeled balancing robot. Masters thesis, Universiti Teknologi Malaysia, Faculty of Electrical Engineering; Electrical-Mechatronics and Automatic Control. |
| spellingShingle | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TK7885-7895 Computer engineer. Computer hardware Abdollah, Mohd. Fairus Proportional integral sliding mode control of a two-wheeled balancing robot |
| title | Proportional integral sliding mode control of a two-wheeled balancing robot |
| title_full | Proportional integral sliding mode control of a two-wheeled balancing robot |
| title_fullStr | Proportional integral sliding mode control of a two-wheeled balancing robot |
| title_full_unstemmed | Proportional integral sliding mode control of a two-wheeled balancing robot |
| title_short | Proportional integral sliding mode control of a two-wheeled balancing robot |
| title_sort | proportional integral sliding mode control of a two-wheeled balancing robot |
| topic | TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TK7885-7895 Computer engineer. Computer hardware |
| url | http://eprints.utm.my/2136/1/MohdFairusAbdollahMFKE2006.pdf http://eprints.utm.my/2136/ |
| url_provider | http://eprints.utm.my/ |