A Fuzzy LQR PID Control for a Two-Legged Wheel Robot with Uncertainties and Variant Height

Authors

  • Duc Thien Tran Ho Chi Minh City University of Technology and Education https://orcid.org/0000-0002-6684-0681
  • Nguyen Minh Hoang Ho Chi Minh City University of Technology and Education
  • Nguyen Huu Loc Ho Chi Minh City University of Technology and Education
  • Quoc Thanh Truong Ho Chi Minh City University of Technology
  • Nguyen Thanh Nha Ho Chi Minh City University of Technology and Education

DOI:

https://doi.org/10.18196/jrc.v4i5.19448

Keywords:

Fuzzy LQR Control, Two-Legged Wheeled Balancing Robot, PID Control, Fuzzy Logic System.

Abstract

This paper proposes a fuzzy LQR PID control for a two-legged wheeled balancing robot for keeping stability against uncertainties and variant heights. The proposed control includes the fuzzy supervisor, LQR, PID, and two calibrations. The fuzzy LQR is conducted to control the stability and motion of the robot while its posture changes with respect to time. The fuzzy supervisor is used to adjust the LQR control according to the robotic height. It consists of one input and one output. The input and output have three membership functions, respectively, to three postures of the robot. The PID control is used to control the posture of the robot. The first calibration is used to compensate for the bias value of the tilting angle when the robot changes its posture. The second calibration is applied to compute the robotic height according to the hip angle. In order to verify the effectiveness of the proposed control, a practical robot with the variant height is constructed, and the proposed control is embedded in the control board. Finally, two experiments are also conducted to verify the balancing and moving ability of the robot with the variant posture.

Author Biographies

Duc Thien Tran, Ho Chi Minh City University of Technology and Education

DUC THIEN TRAN received the B.S and M.S. degrees in the Department of Electrical Engineering, Ho Chi Minh City University of Technology, Vietnam, in 2010, 2013, and the Ph.D. degree from University of Ulsan in 2020, respectively. He works as a lecturer with the Department of Automatic Control, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam. His research interests include robotics, variable stiffness system, fluid power control, disturbance observer, nonlinear control, adaptive control, fault tolerant control and intelligent technique

Nguyen Minh Hoang, Ho Chi Minh City University of Technology and Education

MINH HOANG NGUYEN received the B.S degree in the Department of Automation Control, Ho Chi Minh University of Technology and Education, Vietnam, in 2023.
He works as a member of Robotics and Intelligent Control Lab member in the Department of Automatic Control, Ho Chi Minh University of Technology and Education (HCMUTE), Vietnam.
His research interests include robotics, mobile robot, intelligent control, and adaptive control.

Nguyen Huu Loc, Ho Chi Minh City University of Technology and Education

HUU LOC NGUYEN is currently studying in the Faculty for High-Quality Training, Ho Chi Minh University of Technology and Education, Vietnam, in 2023.
He works as a member of Robotics and Intelligent Control Lab member in the Department of Automatic Control, Ho Chi Minh University of Technology and Education (HCMUTE), Vietnam.
His research interests include robotics, mobile robot, intelligent control and adaptive control.

Nguyen Thanh Nha, Ho Chi Minh City University of Technology and Education

NHA NGUYEN THANH received the B.S. Degree in the Department of Control engineering and Automation from the Faculty For High-Quality Training, Ho Chi Minh City University of Technology and Education, Vietnam, in 2023.
He works as a Robotics and Intelligent Control Lab member in the Department of Automatic Control, Ho Chi Minh University of Technology and Education, Vietnam.
His research interests include robotics, parallel robot, nonlinear control, and intelligent control.

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Published

2023-09-06

Issue

Vol. 4 No. 5 (2023)

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Articles

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