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Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot

Mohd Riduwan, Ghazali and Ahmad Nor Kasruddin, Nasir and Mohd Ashraf, Ahmad and Nasrul Salim, Pakheri (2011) Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot. In: Informatics and Computational Intelligence 2011 (ICI 2011) , 12 14 Dec 2011 , Bandung, Indonesia. . (Unpublished)

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Abstract

Abstract—The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Fuzzy Logic Controller (FLC) and PID controller for a highly nonlinear 2– wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the FLC and PID controllers are examined in terms of input tracking capability. Simulation results of the responses of the nonlinear 2–wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is presented and discussed.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: FLC; PID; Balancing Robot
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Siti Aishah Ghani
Date Deposited: 16 Mar 2012 01:23
Last Modified: 19 Mar 2018 06:17
URI: http://umpir.ump.edu.my/id/eprint/2306
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