Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot
This paper presents a comparison between the Proportional-Derivative (PD)-Fuzzy and Proportional-Integral-Derivative (PID) for balancing control of an extendable doublelink of two-wheeled mobile robot (TWMR). The two controllers were implemented to the first link of the TWMR for performance compari...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
IEEE
2015
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| Online Access: | http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/1/45169.pdf http://irep.iium.edu.my/45169/4/ASCC-organizer.pdf |
| _version_ | 1848782742739746816 |
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| author | Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah |
| author_facet | Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah |
| author_sort | Abdul Rahman, Muhammad Taqiuddin |
| building | IIUM Repository |
| collection | Online Access |
| description | This paper presents a comparison between the
Proportional-Derivative (PD)-Fuzzy and Proportional-Integral-Derivative (PID) for balancing control of an extendable doublelink of two-wheeled mobile robot (TWMR). The two controllers were implemented to the first link of the TWMR for performance comparison between the intelligent and conventional controller while maintaining similar control strategies for the rest of the
subsystems (second link and extendable-link). The sensors fusion of the Inertial Measurement Unit (IMU) sensor from different subsystems were used to get the angular position of the first link and the second link while the existing disturbance was minimized by applying Kalman filter. The fact is that the variations of the
angular position of the second link and the linear motion of the extendable link will affect the balancing of the first link. The accelerometer was used to measure the set point angular position of the first link to guarantee stabilization. The performances of the PD-Fuzzy and PID controllers were examined in terms of the input tracking. The experimental results show that the PD-Fuzzy
controller has produced better performances in terms of settling time as compared to the PID controller. |
| first_indexed | 2025-11-14T16:10:18Z |
| format | Proceeding Paper |
| id | iium-45169 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T16:10:18Z |
| publishDate | 2015 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-451692018-03-06T00:27:04Z http://irep.iium.edu.my/45169/ Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah TJ212 Control engineering This paper presents a comparison between the Proportional-Derivative (PD)-Fuzzy and Proportional-Integral-Derivative (PID) for balancing control of an extendable doublelink of two-wheeled mobile robot (TWMR). The two controllers were implemented to the first link of the TWMR for performance comparison between the intelligent and conventional controller while maintaining similar control strategies for the rest of the subsystems (second link and extendable-link). The sensors fusion of the Inertial Measurement Unit (IMU) sensor from different subsystems were used to get the angular position of the first link and the second link while the existing disturbance was minimized by applying Kalman filter. The fact is that the variations of the angular position of the second link and the linear motion of the extendable link will affect the balancing of the first link. The accelerometer was used to measure the set point angular position of the first link to guarantee stabilization. The performances of the PD-Fuzzy and PID controllers were examined in terms of the input tracking. The experimental results show that the PD-Fuzzy controller has produced better performances in terms of settling time as compared to the PID controller. IEEE 2015 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/45169/1/45169.pdf application/pdf en http://irep.iium.edu.my/45169/4/ASCC-organizer.pdf Abdul Rahman, Muhammad Taqiuddin and Ahmad, Salmiah (2015) Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7244892 10.1109/ASCC.2015.7244892 |
| spellingShingle | TJ212 Control engineering Abdul Rahman, Muhammad Taqiuddin Ahmad, Salmiah Performance comparison between PD-Fuzzy and PID controller towards the stability of the extendable double-link two-wheeled mobile robot |
| title | Performance comparison between PD-Fuzzy and PID controller
towards the stability of the extendable double-link
two-wheeled mobile robot |
| title_full | Performance comparison between PD-Fuzzy and PID controller
towards the stability of the extendable double-link
two-wheeled mobile robot |
| title_fullStr | Performance comparison between PD-Fuzzy and PID controller
towards the stability of the extendable double-link
two-wheeled mobile robot |
| title_full_unstemmed | Performance comparison between PD-Fuzzy and PID controller
towards the stability of the extendable double-link
two-wheeled mobile robot |
| title_short | Performance comparison between PD-Fuzzy and PID controller
towards the stability of the extendable double-link
two-wheeled mobile robot |
| title_sort | performance comparison between pd-fuzzy and pid controller
towards the stability of the extendable double-link
two-wheeled mobile robot |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/ http://irep.iium.edu.my/45169/1/45169.pdf http://irep.iium.edu.my/45169/4/ASCC-organizer.pdf |