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...

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Bibliographic Details
Main Authors: Nawawi, S.W., Ahmad, M.N., Osman, J.H.S., Husain, A.R., Abdollah, M.F.
Format: Conference Proceeding
Language:English
Subjects:
Differential algebraic equations
Mathematical model
Mobile robots
Pi control
Research and development
Robust control
Sliding mode control
Uncertainty
Vehicle dynamics
Wheels
Online Access:Request full text
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Summary: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.
DOI:10.1109/SCORED.2006.4339337