Controller design for two-wheels inverted pendulum vehicle using PISMC
The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade at research, industrial and hobby level around the world. This paper deals with the modeling of 2- wheels Inverted Pendulum and the design of Proportional Integral Sliding Mode Contr...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2006
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| Subjects: | |
| Online Access: | http://eprints.utm.my/227/1/NawawiSW2006_ControllerDesignforTwo-wheels.pdf |
| _version_ | 1825908877169786880 |
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| author | Nawawi, S. W. Ahmad, M. N. Osman, J. H. S. Husain, A. R. |
| author_facet | Nawawi, S. W. Ahmad, M. N. Osman, J. H. S. Husain, A. R. |
| author_sort | Nawawi, S. W. |
| collection | ePrints |
| description | The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade at research, industrial and hobby level around the world. This paper deals with the modeling of 2- wheels Inverted Pendulum and the design of Proportional Integral Sliding Mode Control (PISMC) for the system. The mathematical model of 2-wheels inverted pendulum system which is highly nonlinear is derived. The final model is then represented in state-space. 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. |
| first_indexed | 2024-03-05T17:53:51Z |
| format | Conference or Workshop Item |
| id | utm.eprints-227 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T17:53:51Z |
| publishDate | 2006 |
| record_format | dspace |
| spelling | utm.eprints-2272012-04-18T10:36:01Z http://eprints.utm.my/227/ Controller design for two-wheels inverted pendulum vehicle using PISMC Nawawi, S. W. Ahmad, M. N. Osman, J. H. S. Husain, A. R. TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade at research, industrial and hobby level around the world. This paper deals with the modeling of 2- wheels Inverted Pendulum and the design of Proportional Integral Sliding Mode Control (PISMC) for the system. The mathematical model of 2-wheels inverted pendulum system which is highly nonlinear is derived. The final model is then represented in state-space. 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. 2006-07 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/227/1/NawawiSW2006_ControllerDesignforTwo-wheels.pdf Nawawi, S. W. and Ahmad, M. N. and Osman, J. H. S. and Husain, A. R. (2006) Controller design for two-wheels inverted pendulum vehicle using PISMC. In: 1st Regional Conference on Vehicle Engineering & Technology, 3-5 July 2006, Kuala Lumpur, Malaysia. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics Nawawi, S. W. Ahmad, M. N. Osman, J. H. S. Husain, A. R. Controller design for two-wheels inverted pendulum vehicle using PISMC |
| title | Controller design for two-wheels inverted pendulum vehicle using PISMC |
| title_full | Controller design for two-wheels inverted pendulum vehicle using PISMC |
| title_fullStr | Controller design for two-wheels inverted pendulum vehicle using PISMC |
| title_full_unstemmed | Controller design for two-wheels inverted pendulum vehicle using PISMC |
| title_short | Controller design for two-wheels inverted pendulum vehicle using PISMC |
| title_sort | controller design for two wheels inverted pendulum vehicle using pismc |
| topic | TK Electrical engineering. Electronics Nuclear engineering TL Motor vehicles. Aeronautics. Astronautics |
| url | http://eprints.utm.my/227/1/NawawiSW2006_ControllerDesignforTwo-wheels.pdf |
| work_keys_str_mv | AT nawawisw controllerdesignfortwowheelsinvertedpendulumvehicleusingpismc AT ahmadmn controllerdesignfortwowheelsinvertedpendulumvehicleusingpismc AT osmanjhs controllerdesignfortwowheelsinvertedpendulumvehicleusingpismc AT husainar controllerdesignfortwowheelsinvertedpendulumvehicleusingpismc |