Fractional Order Control Methodology for the Self-Balance Robot
Sandip A Mehta1, Dipak M Adhyaru2
1Sandip A Mehta*, Department of Instrumentation and Control Engineering School of Technology Nirma University S G Highway, Chharodi, Ahmedabad.
2Dipak M Adhyaru, Department of Instrumentation and Control Engineering School of Technology Nirma University S G Highway, Chharodi, Ahmedabad.
Manuscript received on April 05, 2020. | Revised Manuscript received on April 17, 2020. | Manuscript published on April 30, 2020. | PP: 44-48 | Volume-9 Issue-4, April 2020. | Retrieval Number: A1956109119/2020©BEIESP | DOI: 10.35940/ijeat.A1956.049420
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Abstract: In this research paper the control algorithms like LQR and PID has been proposed for the integer and fractional order system. In this research paper the modeling of the selfbalance robot system has been carried out in integer domain and fractional domain. This research paper presents the simulation analysis of control algorithms for two wheel self-balancing robot using Linear Quadratic Regulator, Proportional-IntegralDerivative and Fractional order Proportional-Integral-Derivative control algorithm. These all control algorithm are applied on the integer order system and the fractional order system and comparative analysis has been done. The comparison between integer order PID against the fractional order PID is also been made for the self-balance robot. It has been demonstrated through simulation that fractional order controller gives better response as compared to integer order controller. Further it has been found out that fractional order controller gives better results when applied to fractional order system compared to its integer order counterpart.
Keywords: PID, FOPID, Linear quadratic regulator, two wheeled robot, self-balance system