{"title":"Fuzzy fractional-order PID control for two-wheeled self-balancing robots on inclined road surface","authors":"Jiawen Zhang, Tao Zhao, Bin Guo, S. Dian","doi":"10.1080/21642583.2021.2001768","DOIUrl":null,"url":null,"abstract":"Two-wheeled self-balancing robots (TWSBR) is a highly nonlinear and inherently unstable under-driving system. When controlling its movement on an inclined surface, it is more difficult than when it is on a level road. This paper proposes a fuzzy fractional-order PID (FFOPID) controller for the motion control of a TWSBR system in an inclined environment. The control goal of TWSBR is to realize the wheel position control and to stabilize the non-vertical direction of intermediate body (IB). Finally, we compare the control effect of the proposed FFOPID controller with that of the integer-order PID controller, the fuzzy PID (FPID) controller, and the fractional-order PID (FOPID) controller when TWSBR moving on the inclined plane. The simulation results show that the FFOPID controller has better control performance and anti-interference ability.","PeriodicalId":46282,"journal":{"name":"Systems Science & Control Engineering","volume":"10 1","pages":"289 - 299"},"PeriodicalIF":3.2000,"publicationDate":"2021-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Systems Science & Control Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1080/21642583.2021.2001768","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 1
Abstract
Two-wheeled self-balancing robots (TWSBR) is a highly nonlinear and inherently unstable under-driving system. When controlling its movement on an inclined surface, it is more difficult than when it is on a level road. This paper proposes a fuzzy fractional-order PID (FFOPID) controller for the motion control of a TWSBR system in an inclined environment. The control goal of TWSBR is to realize the wheel position control and to stabilize the non-vertical direction of intermediate body (IB). Finally, we compare the control effect of the proposed FFOPID controller with that of the integer-order PID controller, the fuzzy PID (FPID) controller, and the fractional-order PID (FOPID) controller when TWSBR moving on the inclined plane. The simulation results show that the FFOPID controller has better control performance and anti-interference ability.
期刊介绍:
Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory