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

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 b...

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Main Authors:	Mohd Riduwan, Ghazali, Ahmad Nor Kasruddin, Nasir, Mohd Ashraf, Ahmad, Nasrul Salim, Pakheri
Format:	Conference or Workshop Item
Language:	English
Published:	2011
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/2306/ http://umpir.ump.edu.my/id/eprint/2306/1/ICI2011.pdf

id	ump-2306
recordtype	eprints
spelling	ump-23062018-03-19T06:17:26Z http://umpir.ump.edu.my/id/eprint/2306/ Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot Mohd Riduwan, Ghazali Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Nasrul Salim, Pakheri TK Electrical engineering. Electronics Nuclear engineering 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. 2011 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2306/1/ICI2011.pdf 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)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Mohd Riduwan, Ghazali Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Nasrul Salim, Pakheri Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot
description	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.
format	Conference or Workshop Item
author	Mohd Riduwan, Ghazali Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Nasrul Salim, Pakheri
author_facet	Mohd Riduwan, Ghazali Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Nasrul Salim, Pakheri
author_sort	Mohd Riduwan, Ghazali
title	Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot
title_short	Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot
title_full	Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot
title_fullStr	Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot
title_full_unstemmed	Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot
title_sort	performance comparison between fuzzy logic controller (flc) and pid controller for a highly nonlinear two-wheels balancing robot
publishDate	2011
url	http://umpir.ump.edu.my/id/eprint/2306/ http://umpir.ump.edu.my/id/eprint/2306/1/ICI2011.pdf
first_indexed	2023-09-18T21:55:59Z
last_indexed	2023-09-18T21:55:59Z
_version_	1777414081942126592

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

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