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Comparative Analysis Between Fuzzy Logic Control, LQR Control with Kalman Filter and PID Control for a Two Wheeled Inverted Pendulum

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Advances in Automation and Robotics Research in Latin America

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 13))

Abstract

The aim of this article is to make a comparison between the performance of a fuzzy logic controller (FLC) and two linear controllers: a classical PID and a LQR with Kalman filter when they are applied to the two-wheeled mobile inverted pendulum robot InstaBot SRAT-2. The research is focused on determining the best controller for the mobile platform using three different performance indexes: (i) the standard deviation of the tilt angle, (ii) the root mean square value of the signal sent to the electrical motors and (iii) the region of convergence of the tilt angle. From the experimental test was observed that the LQR with Kalman filter controller presents a lower energy consumption and lower standard deviation of the error with respect to the PID controller; however the fuzzy controller presents a greater region of convergence than the two linear controllers. From the performance indexes it was concluded that fuzzy control is best suited for the mobile robot InstaBot SRAT-2.

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Notes

  1. 1.

    Kalman filter library. Available at https://github.com/TKJElectronics/KalmanFilter.

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Author information

Authors and Affiliations

  1. University of Cauca, Street 5 No. 4-70, Popayán, Colombia

    Karen Viviana Chate García, Oscar Eduardo Prado Ramírez & Carlos Felipe Rengifo Rodas

Authors
  1. Karen Viviana Chate García
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  2. Oscar Eduardo Prado Ramírez
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  3. Carlos Felipe Rengifo Rodas
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Corresponding authors

Correspondence to Karen Viviana Chate García , Oscar Eduardo Prado Ramírez or Carlos Felipe Rengifo Rodas .

Editor information

Editors and Affiliations

  1. Facultad de Ingeniería Eléctrica (FIE), Universidad Tecnológica de Panamá , Panamá, Panama

    Ignacio Chang

  2. Computer Science Department, College of Information Science & Technology, University of Nebraska at Omaha, Omaha, Nebraska, USA

    José Baca

  3. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Héctor A. Moreno

  4. Guadalupe C.P., Av. Barranquilla S/N, Col. Guadalupe C.P., Monclova, Coahuila, Mexico

    Isela G. Carrera

  5. El Salvador, El Salvador

    Manuel N. Cardona

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Chate García, K.V., Prado Ramírez, O.E., Rengifo Rodas, C.F. (2017). Comparative Analysis Between Fuzzy Logic Control, LQR Control with Kalman Filter and PID Control for a Two Wheeled Inverted Pendulum. In: Chang, I., Baca, J., Moreno, H., Carrera, I., Cardona, M. (eds) Advances in Automation and Robotics Research in Latin America. Lecture Notes in Networks and Systems, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-319-54377-2_13

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  • DOI: https://doi.org/10.1007/978-3-319-54377-2_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-54376-5

  • Online ISBN: 978-3-319-54377-2

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