Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms

doi:10.1007/s11633-019-1172-0

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	Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms
	Khaled M. Goher 1; Sulaiman O. Fadlallah 2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:4 页码:511-533
摘要	This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink®. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.
关键词	Two-wheeled inverted pendulum (IP) with two direction handling Lagrangian formulation proportional-integral-derivative (PID) fuzzy logic control (FLC) under-actuated systems.
DOI	10.1007/s11633-019-1172-0
引用统计	被引频次：10[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42354
专题	学术期刊_Machine Intelligence Research
作者单位	1.School of Engineering, University of Lincoln, Lincoln LN6 7TS, UK 2.Mechanical Engineering Department, Auckland University of Technology, Auckland 1142, New Zealand
推荐引用方式 GB/T 7714	Khaled M. Goher,Sulaiman O. Fadlallah. Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms[J]. International Journal of Automation and Computing,2019,16(4):511-533.
APA	Khaled M. Goher,&Sulaiman O. Fadlallah.(2019).Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms.International Journal of Automation and Computing,16(4),511-533.
MLA	Khaled M. Goher,et al."Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms".International Journal of Automation and Computing 16.4(2019):511-533.

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