Controller design for two-wheels inverted pendulum mobile robot using PISMC
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 proportional integral sliding mode control (P...
| 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/7448/ http://eprints.utm.my/7448/1/Johari_Halim_Shah_2006_Controller_Design_for_Two-wheels.pdf |
| _version_ | 1848891472195092480 |
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| author | Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Osman, Johari Halim Shah Husain, Abdul Rashid Abdollah, Mohd. Fairus |
| author_facet | Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Osman, Johari Halim Shah Husain, Abdul Rashid Abdollah, Mohd. Fairus |
| author_sort | Nawawi, Sophan Wahyudi |
| 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 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 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 | 2025-11-15T20:58:30Z |
| format | Conference or Workshop Item |
| id | utm-7448 |
| institution | Universiti Teknologi Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:58:30Z |
| publishDate | 2006 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | utm-74482010-06-01T15:52:18Z http://eprints.utm.my/7448/ Controller design for two-wheels inverted pendulum mobile robot using PISMC Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Osman, Johari Halim Shah Husain, Abdul Rashid Abdollah, Mohd. Fairus 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 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 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. 2006-06 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/7448/1/Johari_Halim_Shah_2006_Controller_Design_for_Two-wheels.pdf Nawawi, Sophan Wahyudi and Ahmad, Mohamad Noh and Osman, Johari Halim Shah and Husain, Abdul Rashid and Abdollah, Mohd. Fairus (2006) Controller design for two-wheels inverted pendulum mobile robot using PISMC. In: Research and Development, 2006. SCOReD 2006. 4th Student Conference, 27-28 June 2006 , Selangor, Malaysia. http://dx.doi.org/10.1109/SCORED.2006.4339337 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Nawawi, Sophan Wahyudi Ahmad, Mohamad Noh Osman, Johari Halim Shah Husain, Abdul Rashid Abdollah, Mohd. Fairus Controller design for two-wheels inverted pendulum mobile robot using PISMC |
| title | Controller design for two-wheels inverted pendulum mobile robot using PISMC |
| title_full | Controller design for two-wheels inverted pendulum mobile robot using PISMC |
| title_fullStr | Controller design for two-wheels inverted pendulum mobile robot using PISMC |
| title_full_unstemmed | Controller design for two-wheels inverted pendulum mobile robot using PISMC |
| title_short | Controller design for two-wheels inverted pendulum mobile robot using PISMC |
| title_sort | controller design for two-wheels inverted pendulum mobile robot using pismc |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/7448/ http://eprints.utm.my/7448/ http://eprints.utm.my/7448/1/Johari_Halim_Shah_2006_Controller_Design_for_Two-wheels.pdf |