Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot

This paper presents a comparison between the Proportional-Derivative (PD)-Fuzzy and Proportional-Integral-Derivative (PID) for balancing control of an extendable doublelink of two-wheeled mobile robot (TWMR). The two controllers were implemented to the first link of the TWMR for performance compari...

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Main Authors:	Abdul Rahman, Muhammad Taqiuddin, Ahmad, Salmiah
Format:	Conference or Workshop Item
Language:	English English
Published:	IEEE 2015
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/1/45169.pdf http://irep.iium.edu.my/45169/4/ASCC-organizer.pdf

id	iium-45169
recordtype	eprints
spelling	iium-451692018-03-06T00:27:04Z http://irep.iium.edu.my/45169/ Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah TJ212 Control engineering This paper presents a comparison between the Proportional-Derivative (PD)-Fuzzy and Proportional-Integral-Derivative (PID) for balancing control of an extendable doublelink of two-wheeled mobile robot (TWMR). The two controllers were implemented to the first link of the TWMR for performance comparison between the intelligent and conventional controller while maintaining similar control strategies for the rest of the subsystems (second link and extendable-link). The sensors fusion of the Inertial Measurement Unit (IMU) sensor from different subsystems were used to get the angular position of the first link and the second link while the existing disturbance was minimized by applying Kalman filter. The fact is that the variations of the angular position of the second link and the linear motion of the extendable link will affect the balancing of the first link. The accelerometer was used to measure the set point angular position of the first link to guarantee stabilization. The performances of the PD-Fuzzy and PID controllers were examined in terms of the input tracking. The experimental results show that the PD-Fuzzy controller has produced better performances in terms of settling time as compared to the PID controller. IEEE 2015 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/45169/1/45169.pdf application/pdf en http://irep.iium.edu.my/45169/4/ASCC-organizer.pdf Abdul Rahman, Muhammad Taqiuddin and Ahmad, Salmiah (2015) Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7244892 10.1109/ASCC.2015.7244892
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot
description	This paper presents a comparison between the Proportional-Derivative (PD)-Fuzzy and Proportional-Integral-Derivative (PID) for balancing control of an extendable doublelink of two-wheeled mobile robot (TWMR). The two controllers were implemented to the first link of the TWMR for performance comparison between the intelligent and conventional controller while maintaining similar control strategies for the rest of the subsystems (second link and extendable-link). The sensors fusion of the Inertial Measurement Unit (IMU) sensor from different subsystems were used to get the angular position of the first link and the second link while the existing disturbance was minimized by applying Kalman filter. The fact is that the variations of the angular position of the second link and the linear motion of the extendable link will affect the balancing of the first link. The accelerometer was used to measure the set point angular position of the first link to guarantee stabilization. The performances of the PD-Fuzzy and PID controllers were examined in terms of the input tracking. The experimental results show that the PD-Fuzzy controller has produced better performances in terms of settling time as compared to the PID controller.
format	Conference or Workshop Item
author	Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah
author_facet	Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah
author_sort	Abdul Rahman, Muhammad Taqiuddin
title	Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot
title_short	Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot
title_full	Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot
title_fullStr	Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot
title_full_unstemmed	Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot
title_sort	performance comparison between pd-fuzzy and pid controller towards the stability of the extendable double-link two-wheeled mobile robot
publisher	IEEE
publishDate	2015
url	http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/1/45169.pdf http://irep.iium.edu.my/45169/4/ASCC-organizer.pdf
first_indexed	2023-09-18T21:04:17Z
last_indexed	2023-09-18T21:04:17Z
_version_	1777410829696630784

Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot

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