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

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 hig...

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Main Authors:	Ahmad Nor Kasruddin, Nasir, Mohd Zaidi, Mohd Tumari, Mohd Riduwan, Ghazali
Format:	Conference or Workshop Item
Language:	English
Published:	IEEE 2012
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/26651/ http://umpir.ump.edu.my/id/eprint/26651/ http://umpir.ump.edu.my/id/eprint/26651/1/Performance%20comparison%20between%20Sliding%20Mode%20Controller%20SMC.pdf

id	ump-26651
recordtype	eprints
spelling	ump-266512020-02-12T07:40:12Z http://umpir.ump.edu.my/id/eprint/26651/ 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 Mohd Zaidi, Mohd Tumari Mohd Riduwan, Ghazali TK Electrical engineering. Electronics Nuclear engineering 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. IEEE 2012 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/26651/1/Performance%20comparison%20between%20Sliding%20Mode%20Controller%20SMC.pdf 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 https://doi.org/10.1109/SCIS-ISIS.2012.6505026
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Ahmad Nor Kasruddin, Nasir Mohd Zaidi, Mohd Tumari Mohd Riduwan, Ghazali Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot
description	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.
format	Conference or Workshop Item
author	Ahmad Nor Kasruddin, Nasir Mohd Zaidi, Mohd Tumari Mohd Riduwan, Ghazali
author_facet	Ahmad Nor Kasruddin, Nasir Mohd Zaidi, Mohd Tumari Mohd Riduwan, Ghazali
author_sort	Ahmad Nor Kasruddin, Nasir
title	Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot
title_short	Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot
title_full	Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot
title_fullStr	Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot
title_full_unstemmed	Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot
title_sort	performance comparison between sliding mode controller smc and proportional-integral-derivative pid controller for a highly nonlinear two-wheeled balancing robot
publisher	IEEE
publishDate	2012
url	http://umpir.ump.edu.my/id/eprint/26651/ http://umpir.ump.edu.my/id/eprint/26651/ http://umpir.ump.edu.my/id/eprint/26651/1/Performance%20comparison%20between%20Sliding%20Mode%20Controller%20SMC.pdf
first_indexed	2023-09-18T22:41:37Z
last_indexed	2023-09-18T22:41:37Z
_version_	1777416952893931520

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

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