• DocumentCode
    3134433
  • Title

    Control System Design for a Mobile Inverted Pendulum via Sliding Mode Technique

  • Author

    Kang, Ming Tao ; Vo, Hoang Duy ; Kim, Hak Kyeong ; Kim, Sang Bong

  • Author_Institution
    PuKyong Nat. Univ., Busan
  • fYear
    2007
  • fDate
    8-10 May 2007
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    This paper considers the control system design for a mobile inverted pendulum via sliding mode technique. Firstly, a linear system is described in order to facilitate the development of an efficient control system. Secondly, sliding mode controllers are developed for stabilizing and tracking this system. Thirdly, the controllers have been implemented on a PIC microcontroller board. Additionally, the simulations were given to prove the validity of the proposed controllers.
  • Keywords
    control system synthesis; nonlinear systems; variable structure systems; control system design; linear system; mobile inverted pendulum; sliding mode controllers; sliding mode technique; Control systems; Force control; Force measurement; Mechanical variables control; Mechatronics; Microcontrollers; Robots; Rotors; Sliding mode control; Wheels;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Mechatronics, ICM2007 4th IEEE International Conference on
  • Conference_Location
    Kumamoto
  • Print_ISBN
    1-4244-1183-1
  • Electronic_ISBN
    1-4244-1184-X
  • Type

    conf

  • DOI
    10.1109/ICMECH.2007.4280053
  • Filename
    4280053
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3134433