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Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot

Ahmad Nor Kasruddin, Nasir and Mohd Zaidi, Mohd Tumari and Mohd Riduwan, Ghazali (2012) Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot. In: International Conference on Soft Computing and Intelligent Systems, 20-24 November 2012 , Kobe, Japan. pp. 1403-1408.. ISBN 978-146732742-8

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Abstract

The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Sliding Mode Controller (SMC) and Proportional-Integral-Derivative (PID) controller for a highly nonlinear 2-wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model is then represented in state-space form and the system suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the SMC and PID controllers are examined in terms of input tracking and disturbances rejection capability. Simulation results of the responses of the nonlinear 2-wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is analyzed and discussed.

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Indexed by Scopus, WOS
Uncontrolled Keywords: SMC; PID; balancing robot
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 12 Feb 2020 07:40
Last Modified: 12 Feb 2020 07:40
URI: http://umpir.ump.edu.my/id/eprint/26651
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