Home // International Journal On Advances in Intelligent Systems, volume 9, numbers 1 and 2, 2016 // View article

Stabilization of a Two-Wheeled Mobile Pendulum System using LQG and Fuzzy Control Techniques

Authors:
Ákos Odry
János Fodor
Péter Odry

Keywords: Fuzzy control; LQG control; Kalman filter; mobile robot; self-balancing robot; future transportation system

Abstract:
This paper studies the control performances of modern and soft-computing based control solutions. Namely, the stabilization of a naturally unstable mechatronic system will be elaborated using linear-quadratic-Gaussian and cascade connected fuzzy control schemes. The mechatronic system is a special mobile robot (so called two-wheeled mobile pendulum system) that has only two contact points with the supporting surface and its center of mass is located under the wheel axis. Due to this mechanical structure, the inner body (which acts as a pendulum between the wheels) tends to oscillate during the translational motion of the robot, thus the application of feedback control is essential in order to stabilize the dynamical system. In the first part of the paper, the mechatronic system and the corresponding mathematical model are introduced, while in the second part the aforementioned control solutions are designed for the plant. The achieved control performances are analyzed both in simulation environment and on the real mechatronic system. At the end of the paper, a performance assessment of the elaborated control solutions is given based on transient response and error integral measurements.

Pages: 223 to 232

Copyright: Copyright (c) to authors, 2016. Used with permission.

Publication date: June 30, 2016

Published in: journal

ISSN: 1942-2679