Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

Goher, Khaled and Fadlallah, Sulaiman (2019) Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms. International Journal of Automation and Computing . ISSN 1476-8186

Full content URL: https://doi.org/10.1007/s11633-019-1172-0

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Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

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Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

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Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms
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Abstract

This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions
for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink®. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC)
strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.

Keywords:Two-wheeled inverted pendulum (IP) with two direction handling, Lagrangian formulation, proportional-integral-
Subjects:H Engineering > H660 Control Systems
H Engineering > H310 Dynamics
Divisions:College of Science > School of Engineering
ID Code:35606
Deposited On:09 Apr 2019 10:37

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