Proportional integral sliding mode control of a two-wheeled balancing robot

The objectives of this thesis are to formulate a complete mathematical model of a two-wheeled balancing robot and to control this robot focusing only on balancing using Proportional Integral Sliding Mode Control (PISMC) approach. This robot which exhibits a nonlinear and unstable system dynamics wil...

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Bibliographic Details
Main Author:	Abdollah, Mohd. Fairus
Format:	Thesis
Language:	English
Published:	2006
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/2136/1/MohdFairusAbdollahMFKE2006.pdf
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id	my-utm-ep.2136
record_format	uketd_dc
spelling	my-utm-ep.21362018-06-13T07:05:37Z Proportional integral sliding mode control of a two-wheeled balancing robot 2006-05 Abdollah, Mohd. Fairus TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TK7885-7895 Computer engineer. Computer hardware The objectives of this thesis are to formulate a complete mathematical model of a two-wheeled balancing robot and to control this robot focusing only on balancing using Proportional Integral Sliding Mode Control (PISMC) approach. This robot which exhibits a nonlinear and unstable system dynamics will be modelled based on the inverted pendulum theory. Three types of disturbances will be exerted to the robot of which one of them is applied to the centre gravity of the robot whereas the other two are applied to the centre of both right and left wheels of the robot. The research work is undertaken in the following development stages. The development of the mathematical model of the robot, the design of the PISMC and finally the comparison results with the Statefeedback controller using MATLAB/Simulink as its platform. Through this comparison, it can be shown that the PISMC gives better performance as compared to the Statefeedback controller 2006-05 Thesis http://eprints.utm.my/id/eprint/2136/ http://eprints.utm.my/id/eprint/2136/1/MohdFairusAbdollahMFKE2006.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering; Electrical-Mechatronics and Automatic Control Faculty of Electrical Engineering; Electrical-Mechatronics and Automatic Control
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Abdollah, Mohd. Fairus Proportional integral sliding mode control of a two-wheeled balancing robot
description	The objectives of this thesis are to formulate a complete mathematical model of a two-wheeled balancing robot and to control this robot focusing only on balancing using Proportional Integral Sliding Mode Control (PISMC) approach. This robot which exhibits a nonlinear and unstable system dynamics will be modelled based on the inverted pendulum theory. Three types of disturbances will be exerted to the robot of which one of them is applied to the centre gravity of the robot whereas the other two are applied to the centre of both right and left wheels of the robot. The research work is undertaken in the following development stages. The development of the mathematical model of the robot, the design of the PISMC and finally the comparison results with the Statefeedback controller using MATLAB/Simulink as its platform. Through this comparison, it can be shown that the PISMC gives better performance as compared to the Statefeedback controller
format	Thesis
qualification_level	Master's degree
author	Abdollah, Mohd. Fairus
author_facet	Abdollah, Mohd. Fairus
author_sort	Abdollah, Mohd. Fairus
title	Proportional integral sliding mode control of a two-wheeled balancing robot
title_short	Proportional integral sliding mode control of a two-wheeled balancing robot
title_full	Proportional integral sliding mode control of a two-wheeled balancing robot
title_fullStr	Proportional integral sliding mode control of a two-wheeled balancing robot
title_full_unstemmed	Proportional integral sliding mode control of a two-wheeled balancing robot
title_sort	proportional integral sliding mode control of a two-wheeled balancing robot
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering; Electrical-Mechatronics and Automatic Control
granting_department	Faculty of Electrical Engineering; Electrical-Mechatronics and Automatic Control
publishDate	2006
url	http://eprints.utm.my/id/eprint/2136/1/MohdFairusAbdollahMFKE2006.pdf
_version_	1747814400192937984

Proportional integral sliding mode control of a two-wheeled balancing robot

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