Fractional Order Controller Design for Self-Balancing Two-Wheeled Robot and Performance Comparison Using Different Optimization Techniques

摘要

There has been ongoing experiments on a two-wheeled self-balancing robot for several years, and it is almost similar to the model of an inverted pendulum on a cart. The presented paper describes the model, design, working and simulation of a two-wheeled self-balancing robot. Properties of the system under study are extremely non-linear. Moreover, there is a great deal of instability in the controller of proposed system. To improve the stability of mobile robots, this paper introduces fractional order PID (FOPID) or PI <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">λ</sup> D <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">μ</sup> controller for a non-linear and high-order system and compares it with the conventional PID. FOPID controller is designed specifically to adjust the parameters of the system more accurately according to desired specifications. The factorrs of the considered controller are optimized using both Nelder-Mead (N-M) technique and Particle Swarm Optimization (PSO) technique. The results obtained by N-M technique are compared with those of PSO technique. N-M tuned FOPID controller significantly improves the quality of controller in contrast to PSO technique. Simulation results also indicate that Nelder-Mead tuned FOPID is a better and more stable controller as compared to classical PID or PSO tuned FOPID, for a non-linear system like a two-wheeled self-balancing robot.