Design of a Sliding Mode Controller for Two-Wheeled Balancing Robot

Journal Title: روش های هوشمند در صنعت برق - Year 2014, Vol 5, Issue 19

Abstract

Nowadays, the control of mechanical systems with fewer inputs than outputs (Under-actuated systems) has become a challenging problem for control engineers. Two-wheeled balancing robots is one of the appealing examples of this category. This type of robot contains two parallel wheels and an inverted pendulum. In this research, designing of controller have been investigated for flat surfaces. For controller design, the extract dynamics of the system has been achieved based on Kane's method. Then for the two-wheeled balancing robot, one sliding mode controller has been designed for yaw angle, and another sliding mode controller has been designed to control both position and pitch angle based on a proposed sliding surface. The main feature of the proposed controllers is that all of controllers have been designed based on the nonlinear dynamics of system. Also, considering the limits of uncertainties while designing systems, the robustness of controllers have been increased. The common problem of sliding mode control is chattering phenomenon that has been greatly reduced using saturation function instead of sign function. Simulation results comparision of the designed controller with a LQR controller, validates the effectiveness of the proposed controller.

Authors and Affiliations

Ehsan Abbas nejad, Abbas Harifi

Keywords

Related Articles

Impact of Sink Node Placement onto Wireless Sensor Networks Performance Regarding Clustering Routing and Compressive Sensing Theory

Wireless Sensor Networks (WSNs) consist of several sensor nodes with sensing, computation, and wireless communication capabilities. The energy constraint is one of the most important issues in these networks. Thus, the d...

Neuro-adaptive control in beating heart surgery based on the viscoelastic tissue model

In this paper, the problem of 3D heart motion in beating heart surgery is resolved by proposing a parallel force-motion controller. Motion controller is designed based on neuro-adaptive approach to compensate 3D heart mo...

A Novel Transformerless DC–DC Converters With High Step-Up Voltage Gain And Low Voltage Stress On The Switch

In this paper, a single switch transformerless high step up dc-dc converter with low voltage stress on the switch is proposed. In the proposed converter only one switch is used which makes the control scheme simple as we...

A Novel Approach for Earthing System Design Using Finite Element Method

Protection of equipment, safety of persons and continuity of power supply are the main objectives of the grounding system. For its accurate design, it is essential to determine the potential distribution on the earth sur...

Evaluating the effect of pressure on the diaphragm micro- electro-mechanical thickness and the amount of shift in medical applications

In this paper, the influence of design parameters on the sensitive microphone diaphragm for use in implantable medical applications is presented. The different parameters such as diaphragm shape, size, thickness and diff...

Download PDF file
  • EP ID EP328487
  • DOI -
  • Views 104
  • Downloads 0

How To Cite

Ehsan Abbas nejad, Abbas Harifi (2014). Design of a Sliding Mode Controller for Two-Wheeled Balancing Robot. روش های هوشمند در صنعت برق, 5(19), 45-54. https://europub.co.uk/articles/-A-328487