THE BALANCE OF ONE-WHEELED INVERTED PENDULUM SYSTEM USING SLIDING MODE CONTROL

Yusie Rizal; Feriyadi Feriyadi; Ronny Mantala

Yusie Rizal National Cheng Kung University
Feriyadi Feriyadi Politeknik Negeri Banjarmasin
Ronny Mantala Politeknik Negeri Banjarmasin

Keywords: sliding mode control, one-wheeled inverted pendulum, balancing system

Abstract

This paper presents the balancing control of a system that so-called one-wheeled
inverted pendulum system by using sliding mode control. This system consists of
a wheel and a rod in which the wheel is actuated by dc motor to maintain the rod
on its upright position. To measure each state, motor encoder and inertial measurement unit (IMU) are used to provide angular position of the wheel and angular
position of the rod with respect to Z-axis, respectively. It is assumed that the system is unstable on its longitudinal direction (forward-and-backward) only, while
the lateral direction (left-and-right) is assume to be stable. This control problem
is challanging task because it is inherently unstable, nonlinear and underactuated
system. From the simulation results, it is shown that sliding mode control can
stabilize the one-wheeled inverted pendulum system.

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