Performance comparison between Sliding Mode Controller SMC and Proportional-Integral-Derivative PID controller for a highly nonlinear two-wheeled balancing robot.
Ahmad Nor Kasruddin NasirMohd Zaidi Mohd TumariMohd Riduwan GhazaliPublished in: SCIS&ISIS (2012)
Keyphrases
- pid controller
- highly nonlinear
- robot manipulators
- control method
- sliding mode control
- sliding mode
- proportional integral derivative
- mobile robot
- control scheme
- control system
- closed loop
- fuzzy control
- fuzzy logic controller
- particle swarm optimization
- fractional order
- control parameters
- bp neural network
- rbf neural network
- real time
- variable structure
- pid control
- control algorithm
- humanoid robot
- pso algorithm
- neural network
- adaptive control
- data fusion
- knn
- multi objective
- inverted pendulum
- transfer function
- computational intelligence
- global optimization
- basis functions
- ant colony optimization