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...
| 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/2122/ http://eprints.utm.my/2122/1/Nawawi06_Control_of_Two-Wheels.pdf |
| _version_ | 1848890291846643712 |
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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 | UTeM Institutional Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-15T20:39:45Z |
| format | Conference or Workshop Item |
| id | utm-2122 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:39:45Z |
| publishDate | 2006 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-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
|
| 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
|
| 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/ http://eprints.utm.my/2122/1/Nawawi06_Control_of_Two-Wheels.pdf |