PID and fuzzy logic controller design for balancing robot stabilization

Abstract EN

This paper addresses the problem of position control and stabilization for the two wheeled balancing robot.

A mathematical model is derived based on the robot’s position and tilt angle and a fuzzy logic control is proposed for the balancing robot control.

The fuzzy logic controller performance is compared with a conventional PID controller to show the difference between them.

Both controllers were tested on the balancing robot in simulation using MATLAB software and the results were put together for a comparative point of view.

The simulations shows a relative advantage for the fuzzy logic controller over the conventional PID controller especially in reducing the time required for stabilization which takes about 2 seconds and almost without overshoot while in the PID case the robot will have about 10% overshoot in position and about 20 degrees in tilt angle.