Stabilization of a New Configurable Two- Wheeled Machine Using a PD-PID and a Hybrid FL Control Strategies: A Comparative Study
A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque.
[1] K. Goher, S. Ahmad, and O. M. Tokhi, "A new configuration of two
wheeled vehicles: Towards a more workspace and motion flexibility,"
2010 IEEE International Systems Conference, pp. 524-528, Apr. 2010.
[2] Y. Takahashi and S. Ogawa, "Step climbing using power assist wheel
chair robot with inverse pendulum control," Robotics and Automation,,
no. April, pp. 1360-1365, 2000.
[3] S. Jeong and T. Takahashi, "Wheeled inverted pendulum type assistant
robot: design concept and mobile control," Intelligent Service Robotics,
vol. 1, no. 4, pp. 313-320, May 2008.
[4] J. Zhao, "The control and design of Dual-wheel upright self-balance
Robot," Intelligent Control and Automation, 2008. WCICA, pp. 4172-
4177, 2008.
[5] R. C. Tatikonda, V. P. Battula, and V. Kumar, "Control of inverted
pendulum using adaptive neuro fuzzy inference structure (ANFIS),"
Proceedings of 2010 IEEE International Symposium on Circuits and
Systems, pp. 1348-1351, May 2010.
[6] Z. Li and Y. Zhang, "Robust adaptive motion/force control for wheeled
inverted pendulums," Automatica, vol. 46, no. 8, pp. 1346-1353, Aug.
2010.
[7] M. Askari, H. a. F. Mohamed, M. Moghavvemi, and S. S. Yang,
"Model predictive control of an inverted pendulum," 2009 International
Conference for Technical Postgraduates (TECHPOS), pp. 1-4, Dec.
2009.
[8] S. Ahmad, M. O. Tokhi, and S. F. Toha, "Genetic Algorithm
Optimisation for Fuzzy Control of Wheelchair Lifting and Balancing,"
2009 Third UKSim European Symposium on Computer Modeling and
Simulation, pp. 97-101, 2009.
[9] X. Xiong and Z. Wan, "The simulation of double inverted pendulum
control based on particle swarm optimization LQR algorithm," 2010
IEEE International Conference on Software Engineering and Service
Sciences, pp. 253-256, Jul. 2010.
[10] A. Almeshal, K. Goher, and M. Tokhi, "Modelling of Two-Wheeled
Robotic Wheelchair With Moving Payload," in Proceedings of the 14th
International Conference on Climbing and Walking Robots and the
Support Technologies for Mobile Machines (CLAWAR 2011), 2011.
[1] K. Goher, S. Ahmad, and O. M. Tokhi, "A new configuration of two
wheeled vehicles: Towards a more workspace and motion flexibility,"
2010 IEEE International Systems Conference, pp. 524-528, Apr. 2010.
[2] Y. Takahashi and S. Ogawa, "Step climbing using power assist wheel
chair robot with inverse pendulum control," Robotics and Automation,,
no. April, pp. 1360-1365, 2000.
[3] S. Jeong and T. Takahashi, "Wheeled inverted pendulum type assistant
robot: design concept and mobile control," Intelligent Service Robotics,
vol. 1, no. 4, pp. 313-320, May 2008.
[4] J. Zhao, "The control and design of Dual-wheel upright self-balance
Robot," Intelligent Control and Automation, 2008. WCICA, pp. 4172-
4177, 2008.
[5] R. C. Tatikonda, V. P. Battula, and V. Kumar, "Control of inverted
pendulum using adaptive neuro fuzzy inference structure (ANFIS),"
Proceedings of 2010 IEEE International Symposium on Circuits and
Systems, pp. 1348-1351, May 2010.
[6] Z. Li and Y. Zhang, "Robust adaptive motion/force control for wheeled
inverted pendulums," Automatica, vol. 46, no. 8, pp. 1346-1353, Aug.
2010.
[7] M. Askari, H. a. F. Mohamed, M. Moghavvemi, and S. S. Yang,
"Model predictive control of an inverted pendulum," 2009 International
Conference for Technical Postgraduates (TECHPOS), pp. 1-4, Dec.
2009.
[8] S. Ahmad, M. O. Tokhi, and S. F. Toha, "Genetic Algorithm
Optimisation for Fuzzy Control of Wheelchair Lifting and Balancing,"
2009 Third UKSim European Symposium on Computer Modeling and
Simulation, pp. 97-101, 2009.
[9] X. Xiong and Z. Wan, "The simulation of double inverted pendulum
control based on particle swarm optimization LQR algorithm," 2010
IEEE International Conference on Software Engineering and Service
Sciences, pp. 253-256, Jul. 2010.
[10] A. Almeshal, K. Goher, and M. Tokhi, "Modelling of Two-Wheeled
Robotic Wheelchair With Moving Payload," in Proceedings of the 14th
International Conference on Climbing and Walking Robots and the
Support Technologies for Mobile Machines (CLAWAR 2011), 2011.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:52865", author = "M. Almeshal and M. O. Tokhi and K. M. Goher", title = "Stabilization of a New Configurable Two- Wheeled Machine Using a PD-PID and a Hybrid FL Control Strategies: A Comparative Study", abstract = "A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque.
", keywords = "double inverted pendulum, modelling, robust control, simulation,", volume = "6", number = "10", pages = "2104-8", }
