Trajectory tracking of two wheels mobile robot using sliding mode control
This paper deals with controller design of two wheels mobile robot system by using Sliding Mode Control. SMC controller is developed based on mathematical modeling of two wheels mobile robot model to control a stability of this system. Disturbance is applied to to test the balancing of the robot. Th...
| Main Authors: | , , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
AIP Publishing
2011
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/26230/ http://umpir.ump.edu.my/id/eprint/26230/1/Trajectory%20tracking%20of%20two%20wheels%20mobile%20robot%20using%20sliding%20mode%20control.pdf |
| _version_ | 1848822481815601152 |
|---|---|
| author | Normaniha, Abd Ghani N. I., Mat Yatim N. A., Azmi |
| author_facet | Normaniha, Abd Ghani N. I., Mat Yatim N. A., Azmi |
| author_sort | Normaniha, Abd Ghani |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper deals with controller design of two wheels mobile robot system by using Sliding Mode Control. SMC controller is developed based on mathematical modeling of two wheels mobile robot model to control a stability of this system. Disturbance is applied to to test the balancing of the robot. The mathematical model of this robot which is highly nonlinear is derived. The final model is then represented in state space form using MATLAB/Simulink application. Simulation on MATLAB application is analyzed and the performance of position, speed, angle, and angle rate of the balancing robot are observed. The controllers that will be determined use both combination of Hierarchy Control method and Equivalence Control method. The deterministic approach is used to get the bounded condition value of the model for controller design purpose. Simulation result of comparison between SMC controller and Pole Placement controller is shown. |
| first_indexed | 2025-11-15T02:41:56Z |
| format | Conference or Workshop Item |
| id | ump-26230 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:41:56Z |
| publishDate | 2011 |
| publisher | AIP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-262302020-02-12T03:11:25Z http://umpir.ump.edu.my/id/eprint/26230/ Trajectory tracking of two wheels mobile robot using sliding mode control Normaniha, Abd Ghani N. I., Mat Yatim N. A., Azmi TK Electrical engineering. Electronics Nuclear engineering This paper deals with controller design of two wheels mobile robot system by using Sliding Mode Control. SMC controller is developed based on mathematical modeling of two wheels mobile robot model to control a stability of this system. Disturbance is applied to to test the balancing of the robot. The mathematical model of this robot which is highly nonlinear is derived. The final model is then represented in state space form using MATLAB/Simulink application. Simulation on MATLAB application is analyzed and the performance of position, speed, angle, and angle rate of the balancing robot are observed. The controllers that will be determined use both combination of Hierarchy Control method and Equivalence Control method. The deterministic approach is used to get the bounded condition value of the model for controller design purpose. Simulation result of comparison between SMC controller and Pole Placement controller is shown. AIP Publishing 2011 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/26230/1/Trajectory%20tracking%20of%20two%20wheels%20mobile%20robot%20using%20sliding%20mode%20control.pdf Normaniha, Abd Ghani and N. I., Mat Yatim and N. A., Azmi (2011) Trajectory tracking of two wheels mobile robot using sliding mode control. In: 4th Global Conference on Power Control and Optimization , 2-4 December 2010 , Sarawak. pp. 135-139.. ISSN 0094243X ISBN 978-073540893-7 (Published) https://doi.org/10.1063/1.3592455 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Normaniha, Abd Ghani N. I., Mat Yatim N. A., Azmi Trajectory tracking of two wheels mobile robot using sliding mode control |
| title | Trajectory tracking of two wheels mobile robot using sliding mode control |
| title_full | Trajectory tracking of two wheels mobile robot using sliding mode control |
| title_fullStr | Trajectory tracking of two wheels mobile robot using sliding mode control |
| title_full_unstemmed | Trajectory tracking of two wheels mobile robot using sliding mode control |
| title_short | Trajectory tracking of two wheels mobile robot using sliding mode control |
| title_sort | trajectory tracking of two wheels mobile robot using sliding mode control |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/26230/ http://umpir.ump.edu.my/id/eprint/26230/ http://umpir.ump.edu.my/id/eprint/26230/1/Trajectory%20tracking%20of%20two%20wheels%20mobile%20robot%20using%20sliding%20mode%20control.pdf |