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
- EP ID EP328487
- DOI -
- Views 118
- Downloads 0
Design of Low-Power CMOS OTA Using Bulk-Drive Technique
This paper presents the design of low power CMOS- OTA (operational transconductance amplifier) using bulk drive (BD) technique with broad band. This technique is used for design of low power circuits with broad band for...
Robust Digital Image Watermarking Against Cropping Using Sudoku Puzzle in Spatial and Transform Domain
With rapid development of digital technology, protecting information such as copyright, content ownership confirmation has become more important. In image watermarking, information of the image is inserted such that the...
Condenser microphone with small size and high sensitivity Using a circular diaphragm with fixed center
In this paper, a new single-chip MEMS capacitor microphone on a silicon wafer by minimizing the size and the reduction of mechanical strength using a circular diaphragm with a fixed center is proposed. In the proposed mi...
Adaptive Control of Nonlinear Systems in the presence of Actuator Failures
This paper presents an adaptive state feedback control scheme for a class of nonlinear systems with unknown parameters, variable control gains and in the presence of unknown time varying actuator failures. The designed c...
Rotor Design and Analysis of 4/2 SRMs to Produce Continuous Torque using Finite Element Method
Electrical and mechanical benefits, simple manufacturing and maintenance of switched reluctance motor make it suitable in industrial and home applications, but the most important drawbacks of switched reluctance motor ar...