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PID and Fuzzy Logic Controller Design for Balancing Robot Stabilization | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Article 1, Volume 18, Issue 1, 2018, Pages 1-10 | ||
| Document Type: Research Paper | ||
| DOI: 10.33103/uot.ijccce.18.1.1 | ||
| Authors | ||
| Hussein S. Mohammed; Bashar F. Midhat; Firas A. Raheem | ||
| Abstract | ||
| This paper addresses the problem of position control and stabilization for the two wheeled balancing robot. A mathematical model is derived based on the robot’s position and tilt angle and a fuzzy logic control is proposed for the balancing robot control. The fuzzy logic controller performance is compared with a conventional PID controller to show the difference between them. Both controllers were tested on the balancing robot in simulation using MATLAB software and the results were put together for a comparative point of view. The simulations shows a relative advantage for the fuzzy logic controller over the conventional PID controller especially in reducing the time required for stabilization which takes about 2 seconds and almost without overshoot while in the PID case the robot will have about 10% overshoot in position and about 20 degrees in tilt angle. | ||
| Keywords | ||
| Balancing Robot; PID controller; Fuzzy logic control; Matlab | ||
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