Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot
In this paper the position and posture control for the wheeled inverse pendulum type mobile robot is discuss base on simulation result of two type of controller. The robot in this consideration has two independent driving wheels in same axis, and the gyro type sensor to know the inclination angular...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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School of Postgraduate Studies, UTM
2006
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| Online Access: | http://eprints.utm.my/1657/1/JohariHS05_Variable_control.pdf |
| _version_ | 1796853281540014080 |
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| author | Nawawi, S.W Ahmad, M. N. Osman, Johari H. S. |
| author_facet | Nawawi, S.W Ahmad, M. N. Osman, Johari H. S. |
| author_sort | Nawawi, S.W |
| collection | ePrints |
| description | In this paper the position and posture control for the wheeled inverse pendulum type mobile robot is discuss base on simulation result of two type of controller. The robot in this consideration has two independent driving wheels in same axis, and the gyro type sensor to know the inclination angular velocity of the body and rotary encoders to know wheels rotation. this paper will discuss
the control algorithm to make the robot autonomously navigate in two dimensional plane while keeping balance its pole. |
| first_indexed | 2024-03-05T17:57:12Z |
| format | Article |
| id | utm.eprints-1657 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T17:57:12Z |
| publishDate | 2006 |
| publisher | School of Postgraduate Studies, UTM |
| record_format | dspace |
| spelling | utm.eprints-16572017-10-19T03:30:09Z http://eprints.utm.my/1657/ Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot Nawawi, S.W Ahmad, M. N. Osman, Johari H. S. TK Electrical engineering. Electronics Nuclear engineering In this paper the position and posture control for the wheeled inverse pendulum type mobile robot is discuss base on simulation result of two type of controller. The robot in this consideration has two independent driving wheels in same axis, and the gyro type sensor to know the inclination angular velocity of the body and rotary encoders to know wheels rotation. this paper will discuss the control algorithm to make the robot autonomously navigate in two dimensional plane while keeping balance its pole. School of Postgraduate Studies, UTM 2006-07-26 Article NonPeerReviewed application/pdf en http://eprints.utm.my/1657/1/JohariHS05_Variable_control.pdf Nawawi, S.W and Ahmad, M. N. and Osman, Johari H. S. (2006) Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot. Regional Postgraduate Conference on Engineering and Science . pp. 197-201. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nawawi, S.W Ahmad, M. N. Osman, Johari H. S. Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot |
| title | Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot |
| title_full | Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot |
| title_fullStr | Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot |
| title_full_unstemmed | Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot |
| title_short | Variable Structure Control of Two-Wheels Inverted Pendulum Mobile Robot |
| title_sort | variable structure control of two wheels inverted pendulum mobile robot |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/1657/1/JohariHS05_Variable_control.pdf |
| work_keys_str_mv | AT nawawisw variablestructurecontroloftwowheelsinvertedpendulummobilerobot AT ahmadmn variablestructurecontroloftwowheelsinvertedpendulummobilerobot AT osmanjoharihs variablestructurecontroloftwowheelsinvertedpendulummobilerobot |