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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| Format: | Thesis |
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2006-05.
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| Online Access: | Get fulltext |