Comparative assessment for two wheels inverted pendulum mobile robot using robust control

Author

Ghani, N.M.A. ; Yatim, N. I Mat ; Azmi, N.A.

Author_Institution

Fac. of Electr. & Electron. Eng., Univ. Malaysia Pahang, Pekan, Malaysia

fYear

2010

Firstpage

562

Lastpage

567

Abstract

Over the last decade, numbers of researcher has been increased in the two-wheeled inverted pendulum mobile robots or commonly known as balancing robot. This paper presents the linear modeling of two wheels inverted pendulum mobile robot and the robustness of sliding mode control. Linear modeling plant was obtained from the simplified nonlinear plant that was based on state-space approach. The dynamic model of the system has been established to design and analyze the control system, dynamic of the motors, chassis and wheels of balancing robot. Simulation on MATLAB/SIMULINK application is performed and to determine the performance and reliability of the Sliding Mode Controller.

Keywords

linear systems; mobile robots; nonlinear control systems; robot dynamics; robust control; state-space methods; variable structure systems; MATLAB; SIMULINK; balancing robot; chassis; linear modeling plant; motor dynamics; nonlinear plant; robust control; sliding mode control; state-space approach; two-wheeled inverted pendulum mobile robot; Control systems; Equations; Mathematical model; Mobile robots; Robot sensing systems; Wheels; Two wheels balancing mobile robot; sliding mode controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation and Systems (ICCAS), 2010 International Conference on

Conference_Location

Gyeonggi-do

Print_ISBN

978-1-4244-7453-0

Electronic_ISBN

978-89-93215-02-1

Type

conf

Filename

5669926