PID and Fuzzy Logic Controller Design for Balancing Robot Stabilization

Authors

• Firas Raheem, Control and Systems Engineering Department, University of Technology, Baghdad-IraqFollow
• Bashar Midhat, Computer Engineering Department, University Of Technology, Baghdad, IraqFollow
• Hussein Mohammed, Computer Engineering Department, University Of Technology, Baghdad, IraqFollow

Document Type

Original Study

Keywords

Control Engineering

Abstract

This paper addresses the problem of position control and stabilization for the two wheeled balancing robot. A mathematical model is derived based on the robot’s position and tilt angle and a fuzzy logic control is proposed for the balancing robot control. The fuzzy logic controller performance is compared with a conventional PID controller to show the difference between them. Both controllers were tested on the balancing robot in simulation using MATLAB software and the results were put together for a comparative point of view. The simulations shows a relative advantage for the fuzzy logic controller over the conventional PID controller especially in reducing the time required for stabilization which takes about 2 seconds and almost without overshoot while in the PID case the robot will have about 10% overshoot in position and about 20 degrees in tilt angle.

How to Cite This Article

Raheem, Firas; Midhat, Bashar; and Mohammed, Hussein (2018) "PID and Fuzzy Logic Controller Design for Balancing Robot Stabilization," Iraqi Journal of Computers, Communications, Control and Systems Engineering: Vol. 18: Iss. 1, Article 1.
DOI: 10.33103/uot.ijccce.18.1.1
Available at: https://ijccce.researchcommons.org/journal/vol18/iss1/1