Balancing and Control Strategy of Two-Wheeled Self-Balancing Mobile Robot using Hybrid PSO-Fuzzy-PID Controller

Abstract

The inherently unstable nature of mobile inverted pendulum type two-wheeled robot discriminates it from its multi-wheel counterparts. The two-wheeled mobile robots (TWMR) have gained the attention of many researchers in last few decades due to their smaller footprints and additional maneuver ability in the cluttered environment quite similar to that of human beings. The objective of a project is to keep the pendulum in an upright position. The attitude stabilization of the two-wheeled robots depends mostly upon the noise-free sensory information received from an MPU-6050 sensor and subsequent suitable controlled actuation of the wheels. For controlling a motion of TWMR, PID controller is implemented and for balancing of the pendulum of TWMR, PSO-fuzzy controller is implemented. The swarm intelligence is implemented in order to tune the fuzzy controller. The optimized fuzzy controller is tested in Simulink using plant model from a mathematical model of the inverted pendulum. The Simulink model is developed in MATLAB Simulink. The controller is capable of balance and moves the TWMR as per the requirement. The results are satisfactory with the use of the PSO-fuzzy controller, which are compared with a fuzzy controller.