Controller design for two-wheels inverted pendulum mobile robot using PISMC

• Main Authors: Nawawi, Sophan Wahyudi, Ahmad, Mohamad Noh, Osman, Johari Halim Shah, Husain, Abdul Rashid, Abdollah, Mohd. Fairus
• Format: Conference or Workshop Item
• Language: English
• Published: 2006
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/7448/1/Johari_Halim_Shah_2006_Controller_Design_for_Two-wheels.pdf; http://eprints.utm.my/id/eprint/7448/; http://dx.doi.org/10.1109/SCORED.2006.4339337
• Institution: Universiti Teknologi Malaysia

The research on two-wheel inverted pendulum or commonly call balancing robot has gained momentum over the last decade in a number of robotic laboratories around the world. This paper deals with the modeling of 2-wheels Inverted Pendulum and the design of proportional integral sliding mode control (PISMC) for the system. The mathematical model of 2-wheels inverted pendulum system which is highly nonlinear is derived. The final model is then represented in state-space form and the system suffers from mismatched condition. A robust controller based on sliding mode control is proposed to perform the robust stabilization and disturbance rejection of the system. A computer simulation study is carried out to access the performance of the proposed control law.