Journal article Open Access

Fractional Order Control Methodology for the SelfBalance Robot.

Sandip A Mehta; Dipak M Adhyaru

Sponsor(s)
Blue Eyes Intelligence Engineering & Sciences Publication(BEIESP)

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 self balance 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-Integral Derivative 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.

Files (828.8 kB)
Name Size
A1956109119.pdf
md5:7a0ecac2c1a990b94e6c8dfb96aed07a
828.8 kB Download
25
10
views
downloads
Views 25
Downloads 10
Data volume 8.3 MB
Unique views 21
Unique downloads 9

Share

Cite as