Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot
Abstract—The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Fuzzy Logic Controller (FLC) and PID controller for a highly nonlinear 2– wheels b...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2011
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| Online Access: | http://umpir.ump.edu.my/id/eprint/2306/ http://umpir.ump.edu.my/id/eprint/2306/1/ICI2011.pdf |
| _version_ | 1848817024433651712 |
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| author | Mohd Riduwan, Ghazali Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Nasrul Salim, Pakheri |
| author_facet | Mohd Riduwan, Ghazali Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Nasrul Salim, Pakheri |
| author_sort | Mohd Riduwan, Ghazali |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | Abstract—The research on two-wheels balancing robot has
gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Fuzzy Logic Controller (FLC) and PID controller for a highly nonlinear 2– wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the FLC and PID controllers are examined in terms of input tracking capability.
Simulation results of the responses of the nonlinear 2–wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is presented and discussed.
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| first_indexed | 2025-11-15T01:15:11Z |
| format | Conference or Workshop Item |
| id | ump-2306 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:15:11Z |
| publishDate | 2011 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-23062018-03-19T06:17:26Z http://umpir.ump.edu.my/id/eprint/2306/ Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot Mohd Riduwan, Ghazali Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Nasrul Salim, Pakheri TK Electrical engineering. Electronics Nuclear engineering Abstract—The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Fuzzy Logic Controller (FLC) and PID controller for a highly nonlinear 2– wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the FLC and PID controllers are examined in terms of input tracking capability. Simulation results of the responses of the nonlinear 2–wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is presented and discussed. 2011 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/2306/1/ICI2011.pdf Mohd Riduwan, Ghazali and Ahmad Nor Kasruddin, Nasir and Mohd Ashraf, Ahmad and Nasrul Salim, Pakheri (2011) Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot. In: Informatics and Computational Intelligence 2011 (ICI 2011) , 12 14 Dec 2011 , Bandung, Indonesia. . (Unpublished) (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Riduwan, Ghazali Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Nasrul Salim, Pakheri Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot |
| title | Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot |
| title_full | Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot |
| title_fullStr | Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot |
| title_full_unstemmed | Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot |
| title_short | Performance Comparison Between Fuzzy Logic Controller (FLC) and PID Controller for a Highly Nonlinear Two-wheels Balancing Robot |
| title_sort | performance comparison between fuzzy logic controller (flc) and pid controller for a highly nonlinear two-wheels balancing robot |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/2306/ http://umpir.ump.edu.my/id/eprint/2306/1/ICI2011.pdf |