Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms
文献类型：期刊论文
| 作者 | Khaled M. Goher2; Sulaiman O. Fadlallah1 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2019 |
| 卷号 | 16期号:4页码:511-533 |
| 关键词 | Two-wheeled inverted pendulum (IP) with two direction handling Lagrangian formulation proportional-integral-derivative (PID) fuzzy logic control (FLC) under-actuated systems. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-019-1172-0 |
| 英文摘要 | This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink®. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42354]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | 1.Mechanical Engineering Department, Auckland University of Technology, Auckland 1142, New Zealand 2.School of Engineering, University of Lincoln, Lincoln LN6 7TS, UK |
| 推荐引用方式 GB/T 7714 | Khaled M. Goher,Sulaiman O. Fadlallah. Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms[J]. International Journal of Automation and Computing,2019,16(4):511-533. |
| APA | Khaled M. Goher,&Sulaiman O. Fadlallah.(2019).Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms.International Journal of Automation and Computing,16(4),511-533. |
| MLA | Khaled M. Goher,et al."Control of a Two-wheeled Machine with Two-directions Handling Mechanism Using PID and PD-FLC Algorithms".International Journal of Automation and Computing 16.4(2019):511-533. |
入库方式： OAI收割
来源：自动化研究所
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