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Position tracking controllers for two wheeled inverted pendulum robot

This paper present comparison between model based controller and nonmodel based controller in position tracking of a two wheeled inverted pendulum (TWIP). A Linear Quadratic Controller (LQR) which is a state feedback linear controller and fuzzy logic controller (FLC) which is non-model based intelli...

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Bibliographic Details
Main Authors: Bature, Amir, Buyamin, Salinda, Ahmad, Mohamad Noh, Muhammad, Mustapha R.
Format: Article
Published: 2014
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/54532/
http://dx.doi.org/10.4028/www.scientific.net/AMM.554.660
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Summary:This paper present comparison between model based controller and nonmodel based controller in position tracking of a two wheeled inverted pendulum (TWIP). A Linear Quadratic Controller (LQR) which is a state feedback linear controller and fuzzy logic controller (FLC) which is non-model based intelligent controller are designed and simulated and the performances of the two controllers are compared. The FLC shows better performance than the LQR controller.

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