Robot head position balancing using FOPID controller

• Main Authors: Mohamad Azhar, Mohamad Nafis, Toha @ Tohara, Siti Fauziah, Abu Hanifah, Rabiatuladawiah, Ahmad, Salmiah, Julai, Sabariah
• Format: Article
• Language: English
• Published: Universitas Ahmad Dahlan 2021
• Subjects: TJ170 Mechanics applied to machinery. Dynamics
• Online Access: http://irep.iium.edu.my/93990/1/2021%20Nafis%20final%20paper%20n%20acceptance.pdf; http://irep.iium.edu.my/93990/; http://journal.uad.ac.id/index.php/TELKOMNIKA/index

Assistive technology for visually impaired and blind people is a research field that is gaining interest from researchers. Rovision is a robot that is capable to guide the visually impaired person to move around by sensing obstacles. However, as the robot manoeuvre in different place and environment, sensors attached on the robot may move and not fix in their designed position. Thus, the sensing area deviates. Therefore, the purpose of this research is to develop a control system which can control sensors position on Rovision, fix at a desired position. Before designing a controller, modelling of the system is done using mathematical and physical modelling. Derivation of mathematical modelling is done based on the inverted pendulum concept. Solidwork software is used to model Rovision in 3D virtual environment, before translated it into block diagram through Simscape add on in MATLAB. PID and Fractional Order Proportional Integral Derivative (FOPID) controller were designed using Simulink software and implemented into Rovision block diagram. The system performance is simulated with the implementation of controller in Simulink, before the controller is implemented in real hardware. The simulated result of system performance with implementation of controller is better than uncontrolled, where 0% steady-state error is produced using both controllers. FOPID controller produce better system performance than PID controller. FOPID controller manages to reduce percentage overshoot of the system with only 1.5% compared to PID 22%. The settling time of the system produce by FOPID controller is only 1.2s compared to 1.3s when using PID controller.