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 TK Electrical engineering. Electronics Nuclear engineering TK7885-7895 Computer engineer. Computer hardware
Online Access:	http://eprints.utm.my/2136/1/MohdFairusAbdollahMFKE2006.pdf