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Controller Design for Two-wheels Inverted Pendulum Mobile Robot Using PISMC

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5 Author(s)
Nawawi, S.W. ; Fac. of Electr. Eng., Univ. Technol. Malaysia, Skudai ; Ahmad, M.N. ; Osman, J.H.S. ; Husain, A.R.
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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.

Published in:

Research and Development, 2006. SCOReD 2006. 4th Student Conference on

Date of Conference:

27-28 June 2006

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