By Topic

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

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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

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