TY - JOUR
T1 - Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms
AU - Goher, Khaled M.
AU - Fadlallah, Sulaiman O.
PY - 2019/8/1
Y1 - 2019/8/1
N2 - 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.
AB - 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.
KW - fuzzy logic control (FLC)
KW - Lagrangian formulation
KW - proportional-integral-derivative (PID)
KW - Two-wheeled inverted pendulum (IP) with two direction handling
KW - under-actuated systems
UR - http://www.scopus.com/inward/record.url?scp=85069201884&partnerID=8YFLogxK
U2 - 10.1007/s11633-019-1172-0
DO - 10.1007/s11633-019-1172-0
M3 - Article
AN - SCOPUS:85069201884
VL - 16
SP - 511
EP - 533
JO - Machine Intelligence Research
JF - Machine Intelligence Research
SN - 2731-538X
IS - 4
ER -
