A dynamical model of a mobile inverted pendulum with linear and non linear controllers with time difference.
DOI:
https://doi.org/10.17762/msea.v71i4.593Abstract
This study compares two linear controllers and a fuzzy logic controller (FLC) on a two-wheeled mobile inverted pendulum that is represented by system matrices with integrated time delay. By acting on the control input following a lookup, it contributes to energy conservation, making the system robust even when affected by the impacts of specially built system time delays. In this section, we look at three different performance indices: (i) the tilt angle's standard deviation; (ii) the root mean square of the signal sent to the electrical motors; and (iii) the convergence zone of the tilt angle. According to the experimental findings, the LQR with Kalman filter controller uses less energy and has a smaller standard deviation of error than the PID.This study compares the performance of two linear controllers and a fuzzy logic controller (FLC) on a two-wheeled mobile PID controller. The fuzzy controller, however, has a bigger convergence region. According to the performance measures, fuzzy control was shown to be the best way for controlling the time-delayed mobile inverted pendulum because it has a unique fuzzy granular preview control.