Real-time control system for a two-wheeled inverted pendulum mobile robot
The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world (Solerno & Angeles, 2003;Grasser et al., 2002; Solerno & Angeles, 2007;Koyanagi, Lida &am...
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my.utm.311772017-02-05T00:13:15Z http://eprints.utm.my/id/eprint/31177/ Real-time control system for a two-wheeled inverted pendulum mobile robot Nawawi, Sophan Wahyudi Osman, Johari Halim Shah TK Electrical engineering. Electronics Nuclear engineering The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world (Solerno & Angeles, 2003;Grasser et al., 2002; Solerno & Angeles, 2007;Koyanagi, Lida & Yuta, 1992;Ha & Yuta, 1996; Kim, Kim & Kwak, 2003). This chapter describes the hardware design of such a robot. The objective of the design is to develop a T-WIP mobile robot as well as MATLABTM interfacing configuration to be used as flexible platform which comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLABTM Real Time Workshop coding, modeling and control scheme is addressed and discussed. The system is then tested using a well-known state feedback controller to verify its functionality. Sciyo Igor, Fuerstner 2010-11-02 Book Section PeerReviewed Nawawi, Sophan Wahyudi and Osman, Johari Halim Shah (2010) Real-time control system for a two-wheeled inverted pendulum mobile robot. In: Advanced Knowledge Application in Practice. Sciyo, Croatia, pp. 299-312. ISBN 978-953-307-141-1 http://dx.doi.org/10.5772/10362 DOI:10.5772/10362 |
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TK Electrical engineering. Electronics Nuclear engineering Nawawi, Sophan Wahyudi Osman, Johari Halim Shah Real-time control system for a two-wheeled inverted pendulum mobile robot |
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The research on two-wheeled inverted pendulum (T-WIP) mobile robots or commonly known as balancing robots have gained momentum over the last decade in a number of robotic laboratories around the world (Solerno & Angeles, 2003;Grasser et al., 2002; Solerno & Angeles, 2007;Koyanagi, Lida & Yuta, 1992;Ha & Yuta, 1996; Kim, Kim & Kwak, 2003). This chapter describes the hardware design of such a robot. The objective of the design is to develop a T-WIP mobile robot as well as MATLABTM interfacing configuration to be used as flexible platform which comprises of embedded unstable linear plant intended for research and teaching purposes. Issues such as selection of actuators and sensors, signal processing units, MATLABTM Real Time Workshop coding, modeling and control scheme is addressed and discussed. The system is then tested using a well-known state feedback controller to verify its functionality. |
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Igor, Fuerstner |
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Igor, Fuerstner Nawawi, Sophan Wahyudi Osman, Johari Halim Shah |
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Book Section |
author |
Nawawi, Sophan Wahyudi Osman, Johari Halim Shah |
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Nawawi, Sophan Wahyudi |
title |
Real-time control system for a two-wheeled inverted pendulum mobile robot |
title_short |
Real-time control system for a two-wheeled inverted pendulum mobile robot |
title_full |
Real-time control system for a two-wheeled inverted pendulum mobile robot |
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Real-time control system for a two-wheeled inverted pendulum mobile robot |
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Real-time control system for a two-wheeled inverted pendulum mobile robot |
title_sort |
real-time control system for a two-wheeled inverted pendulum mobile robot |
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Sciyo |
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2010 |
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http://eprints.utm.my/id/eprint/31177/ http://dx.doi.org/10.5772/10362 |
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