A New Approach for Control of Two-wheeled Mobile Robot

摘要

In this paper, a study of the GBOT1001 two wheeled mobile robot is presented. Linearized dynamic equations are used to design a controller for the inherently unstable mobile robot. A Fuzzy controller is designed for the robot to direct the orientation of the chassis. Then linear quadratic regulator is also incorporated into the closed-loop system. The parameters of the LQR controller are computed first with the trial and error methods then, with the aid of the Genetic Algorithm. The resulting controller is referred to as the Fuzzy-TE-LQR and Fuzzy-GA-LQR controller respectively. The closed-loop responses for both controllers are obtained via computer simulations. Simulation results show that the Fuzzy-GA-LQR controller exhibits a less oscillatory closed-loop response that is achieved with a reasonable control effort.