This paper offers a design of a control system for a robot vehicle with two wheels that mimics a double Inverted Pendulum (IP) system with a movable payload. By expanding the degrees of freedom, the system was provided with more flexibility, but this model posed challenges for control of parts of the system, including the upright balancing of the intermediate body and angular displacement of the wheels, as well as lifting the payload to the demanded height. Proportional Integral Derivative (PID), Proportional Derivative (PD), and Fuzzy Logic Control (FLC) approaches were thus used to attempt system stabilisation. The simulation results allowed a comparison between controller types, including with regard to system performance and the relationship between control effect on the system and controller exerted effort, and illustrated successful performance control.

Topics
Rotational dynamics, Robotics, Fuzzy logic
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