Abstract
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.
Highlights
Two-wheeled mobile robots are characterized by two driving wheels connected to an intermediate body carrying actuation, transmission, sensor, control, and communication subsystems [1]
The designed fuzzy controller is combined with both Linear Quadratic Regulator (LQR) controllers in sections IIB and IIC, resulting in a Fuzzy-Trial and Error LQR (TE-LQR) controller and a Fuzzy-Genetic Algorithm Tuned LQR (GA-LQR) controller respectively
The GBOT1001 two wheeled mobile robot studied in this paper (Fig. 1) is composed of a chassis, a vertical bar, a DC motor for each wheel, planetary gearboxes coupled to the wheels, a DSP board 2 implementing the controller, power amplifiers for the DC motors, odometry sensors and a receiver for the radio control unit [7,8,9]
Summary
Two-wheeled mobile robots are characterized by two driving wheels connected to an intermediate body carrying actuation, transmission, sensor, control, and communication subsystems [1]. The proposed fuzzy controller is combined with a linear quadratic regulator, the parameters of which are tuned with the aid of a Genetic Algorithm. This model is controlled with an LQR controller (TE and GA). The designed fuzzy controller is combined with both LQR controllers in sections IIB and IIC, resulting in a Fuzzy-TE-LQR controller and a Fuzzy-GA-LQR controller respectively
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