Position Tracking Controllers for Two Wheeled Inverted Pendulum Robot

Amir A. Bature; Salinda Buyamin; Mohamad Noh Ahmad; Mustapha Muhammad

doi:10.4028/www.scientific.net/AMM.554.660

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 554Position Tracking Controllers for Two Wheeled...

Position Tracking Controllers for Two Wheeled Inverted Pendulum Robot

Abstract:

: This paper present comparison between model based controller and nonmodel based controller in position tracking of a two wheeled inverted pendulum (TWIP). A Linear Quadratic Controller (LQR) which is a state feedback linear controller and fuzzy logic controller (FLC) which is non-model based intelligent controller are designed and simulated and the performances of the two controllers are compared. The FLC shows better performance than the LQR controller.

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Periodical:

Applied Mechanics and Materials (Volume 554)

Pages:

660-664

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.554.660

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Online since:

June 2014

Authors:

Amir A. Bature*, Salinda Buyamin, Mohamad Noh Ahmad, Mustapha Muhammad

Keywords:

Fuzzy Logic, Linear Quadratic Controller (LQR), Two Wheeled Inverted Pendulum (TWIP)

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References

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