Two-wheeled self balancing unicycle using a PSO based LQR and a fuzzy PD controller

Abstract

This paper proposes the use Fuzzy logic controller and a Particle Swarm Optimization (PSO) based Linear Quadratic Regulator (LQR) controller for the balance of an electric unicycle. It also examines dynamics of the electric unicycle's schematic design, which has a backing seat for the passenger and is analogous to the Segway device equipped with a handle shaft for direction. A proportional derivative controller incorporated with a Fuzzy logic controller was designed for the suggested model of the electric unicycle for speed and position control (Fuzzy controller), and a Proportional Derivative (PD) controller was utilized to control the angle rate and angle of the unicycle. Comparison of the Fuzzy logic controller with a Particle Swarm Optimization (PSO) Linear Quadratic Regulator (LQR) controller was carried out based on error deviation and time response simulations. Command tracking or regulation of some initial state condition were examined and demonstrated by time based simulations of the modelled system. The results evidently indicate that the Fuzzy Proportional Derivative (PD) controller can effectively attain attitude equilibrium for the two wheeled unicycle and preventing it from falling down.