Title :
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
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;
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
