Comparison of different control theories on a two wheeled self balancing robot

This paper is aimed to discuss and compare three of the most famous Control Theories on a Two wheeled Self Balancing Robot Simulation using Robot Operating System (ROS) and Gazebo. Two Wheeled Self Balancing Robots are one of the most fascinating applications of Inverted Pendulum System. In this pap...

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Bibliographic Details
Main Authors: Rahman, M. D. Muhaimin, Rashid, S. M. Hasanur, Hassan, K. M. Rafidh, Hossain, M. M.
Format: Conference Proceeding
Language:English
Subjects:
Computer simulation
Fuzzy control
Fuzzy logic
Fuzzy systems
Robots
Online Access:Get full text
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Summary:This paper is aimed to discuss and compare three of the most famous Control Theories on a Two wheeled Self Balancing Robot Simulation using Robot Operating System (ROS) and Gazebo. Two Wheeled Self Balancing Robots are one of the most fascinating applications of Inverted Pendulum System. In this paper, PID, LQR and Fuzzy logic controllers are discussed. Also,0 the modeling and algorithms of the robot simulation is discussed. The primary objectives of this paper is to discuss about the building of a robot model in ROS and Gazebo, experimenting different control theories on them, documenting the whole process with the analysis of the robot and comparison of different control theories on the system.
ISSN:0094-243X
1551-7616
DOI:10.1063/1.5044373