Khaled M. Goher and Sulaiman O. Fadlallah. Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms. International Journal of Automation and Computing, vol. 16, no. 4, pp. 511-533, 2019. DOI: 10.1007/s11633-019-1172-0
Citation: Khaled M. Goher and Sulaiman O. Fadlallah. Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms. International Journal of Automation and Computing, vol. 16, no. 4, pp. 511-533, 2019. DOI: 10.1007/s11633-019-1172-0

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

  • 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.
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