Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback
Control of mechanical systems by electronic systems controlled by computer programs is one of the most active research areas in mechatronic systems engineering. These programs carry out control laws, which are algorithms. This study focuses on Segway control (a two-wheeled inverted pendulum which is...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2023/4178227 |
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| _version_ | 1850167079217397760 |
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| author | Karima Nader Driss Sarsri |
| author_facet | Karima Nader Driss Sarsri |
| author_sort | Karima Nader |
| collection | DOAJ |
| description | Control of mechanical systems by electronic systems controlled by computer programs is one of the most active research areas in mechatronic systems engineering. These programs carry out control laws, which are algorithms. This study focuses on Segway control (a two-wheeled inverted pendulum which is a highly nonlinear and unstable open-loop system). Our research entails creating a control law to stabilize this system. We proposed using a state feedback controller, which provided us with a stable system and a lower error margin; however, to correct this error, we used a combination of the state feedback controller and the fuzzy-PID controller. The effectiveness of the proposed method is demonstrated using simulation results. |
| format | Article |
| id | doaj-art-dbd3f1e84c94424f8efb488355c92ae6 |
| institution | OA Journals |
| issn | 1687-9619 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-dbd3f1e84c94424f8efb488355c92ae62025-08-20T02:21:17ZengWileyJournal of Robotics1687-96192023-01-01202310.1155/2023/4178227Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State FeedbackKarima Nader0Driss Sarsri1Laboratory of Innovative TechnologiesLaboratory of Innovative TechnologiesControl of mechanical systems by electronic systems controlled by computer programs is one of the most active research areas in mechatronic systems engineering. These programs carry out control laws, which are algorithms. This study focuses on Segway control (a two-wheeled inverted pendulum which is a highly nonlinear and unstable open-loop system). Our research entails creating a control law to stabilize this system. We proposed using a state feedback controller, which provided us with a stable system and a lower error margin; however, to correct this error, we used a combination of the state feedback controller and the fuzzy-PID controller. The effectiveness of the proposed method is demonstrated using simulation results.http://dx.doi.org/10.1155/2023/4178227 |
| spellingShingle | Karima Nader Driss Sarsri Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback Journal of Robotics |
| title | Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback |
| title_full | Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback |
| title_fullStr | Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback |
| title_full_unstemmed | Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback |
| title_short | Modelling and Control of a Two-Wheel Inverted Pendulum Using Fuzzy-PID-Modified State Feedback |
| title_sort | modelling and control of a two wheel inverted pendulum using fuzzy pid modified state feedback |
| url | http://dx.doi.org/10.1155/2023/4178227 |
| work_keys_str_mv | AT karimanader modellingandcontrolofatwowheelinvertedpendulumusingfuzzypidmodifiedstatefeedback AT drisssarsri modellingandcontrolofatwowheelinvertedpendulumusingfuzzypidmodifiedstatefeedback |