Modular hybrid control for double-link two-wheeled mobile robot

The use of Double-link inverted Pendulum (DIP) configuration for two-wheeled mobile robot has expanded the flexibility and function of the two-wheeled mobile robot. Although the second link introduced has increase the non-linearity and complexity of the system, yet a suitable control strategy c...

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Main Authors:	Ahmad, Salmiah, Aminnuddin, Muthanna, M. Shukor, M. A. Sadiq
Format:	Conference or Workshop Item
Language:	English
Published:	2012
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/24745/ http://irep.iium.edu.my/24745/1/1402_final3.pdf

id	iium-24745
recordtype	eprints
spelling	iium-247452013-04-23T06:12:07Z http://irep.iium.edu.my/24745/ Modular hybrid control for double-link two-wheeled mobile robot Ahmad, Salmiah Aminnuddin, Muthanna M. Shukor, M. A. Sadiq TJ212 Control engineering The use of Double-link inverted Pendulum (DIP) configuration for two-wheeled mobile robot has expanded the flexibility and function of the two-wheeled mobile robot. Although the second link introduced has increase the non-linearity and complexity of the system, yet a suitable control strategy can fully utilize its capability in being used as an extendable link, where it can reach higher level of height for pick and place task and can be located at any angle of interest provided the first link must be at balanced constantly. In this paper, a hybrid control consisting of fuzzy-PD type control and a conventional PID control were implemented hierarchically to control the angular position of both links. Simulation results show that the system performance really affected by the coefficient of proportional, integration, and differential of the PID controller and the scaling factors for fuzzy-PD for the first link. The good result has been obtained after several heuristic tuning stages of both controllers parameters and the system is able to maintain the upright position while the second link can be maintained at any angle. 2012 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/24745/1/1402_final3.pdf Ahmad, Salmiah and Aminnuddin, Muthanna and M. Shukor, M. A. Sadiq (2012) Modular hybrid control for double-link two-wheeled mobile robot. In: International Conference on Computer and Communication Engineering (ICCCE 2012), 3 - 5 July 2012, Seri Pacific Hotel Kuala Lumpur.
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Ahmad, Salmiah Aminnuddin, Muthanna M. Shukor, M. A. Sadiq Modular hybrid control for double-link two-wheeled mobile robot
description	The use of Double-link inverted Pendulum (DIP) configuration for two-wheeled mobile robot has expanded the flexibility and function of the two-wheeled mobile robot. Although the second link introduced has increase the non-linearity and complexity of the system, yet a suitable control strategy can fully utilize its capability in being used as an extendable link, where it can reach higher level of height for pick and place task and can be located at any angle of interest provided the first link must be at balanced constantly. In this paper, a hybrid control consisting of fuzzy-PD type control and a conventional PID control were implemented hierarchically to control the angular position of both links. Simulation results show that the system performance really affected by the coefficient of proportional, integration, and differential of the PID controller and the scaling factors for fuzzy-PD for the first link. The good result has been obtained after several heuristic tuning stages of both controllers parameters and the system is able to maintain the upright position while the second link can be maintained at any angle.
format	Conference or Workshop Item
author	Ahmad, Salmiah Aminnuddin, Muthanna M. Shukor, M. A. Sadiq
author_facet	Ahmad, Salmiah Aminnuddin, Muthanna M. Shukor, M. A. Sadiq
author_sort	Ahmad, Salmiah
title	Modular hybrid control for double-link two-wheeled mobile robot
title_short	Modular hybrid control for double-link two-wheeled mobile robot
title_full	Modular hybrid control for double-link two-wheeled mobile robot
title_fullStr	Modular hybrid control for double-link two-wheeled mobile robot
title_full_unstemmed	Modular hybrid control for double-link two-wheeled mobile robot
title_sort	modular hybrid control for double-link two-wheeled mobile robot
publishDate	2012
url	http://irep.iium.edu.my/24745/ http://irep.iium.edu.my/24745/1/1402_final3.pdf
first_indexed	2023-09-18T20:37:02Z
last_indexed	2023-09-18T20:37:02Z
_version_	1777409114799865856

Modular hybrid control for double-link two-wheeled mobile robot

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