Implementation of PID and Fuzzy Logic Based Controller in Two Wheel Driven Self-Balancing Robot

Abstract

The working of Two-wheeled driven Self-balancing robot (TWDSBR) is purely based on the principle of the Inverted pendulum system. Here the two wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. The present work provides successful employment and comparative assessment between the performance of Proportional-Integral-Derivative (PID) and Fuzzy logic based controller (FLC) to be implemented in Two Wheeled driven Self-Balancing Robot (TWSBR). Both the controllers are testified and studied through real time simulation in MATLAB Simulink environment. This analysis validates the positive implementation of both controllers for controlling the linear position and tilt angle of the robot. Through simulation, it has been observed that the fuzzy logic controller shows better results in terms of settling tine as compared to PID controller. The present work also takes a step further to by validating the performance of proposed controller in the simulation, with balancing experiment conducted on real balancing robot.