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
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;
Conference_Titel :
Mechatronics, ICM2007 4th IEEE International Conference on
Conference_Location :
Kumamoto
Print_ISBN :
1-4244-1183-1
Electronic_ISBN :
1-4244-1184-X
DOI :
10.1109/ICMECH.2007.4280053
