Comparative Analysis of Controller Strategies for Steerable Robotic Bar System

International Journal of Electronics and Communication Engineering

© 2024 by SSRG - IJECE Journal

Volume 11 Issue 3

Year of Publication : 2024

Authors : Kiwon Yeom

10.14445/23488549/IJECE-V11I3P113

How to Cite?

Kiwon Yeom, "Comparative Analysis of Controller Strategies for Steerable Robotic Bar System," SSRG International Journal of Electronics and Communication Engineering, vol. 11,  no. 3, pp. 121-129, 2024. Crossref, https://doi.org/10.14445/23488549/IJECE-V11I3P113

Abstract:

This paper presents a comparative analysis of several controllers which are frequently used in robotic systems. This research especially focuses on controlling the ball and beam system of which the characteristics are non-linear and unstable. This paper first derives the dynamics model to control the ball on the beam for balancing. Secondly, it introduces automatic tuning methods for the PID controller based on Particle Swarm Optimization (PSO) and Sliding Mode Control (SMC). This paper introduces a cascade PID control architecture, which is designed with inner and outer feedback loops for balancing the ball on the beam. Finally, the insight of the simulation results with the conclusion is described through in terms of the quantitative comparison with the traditional controllers such as Integral of Time multiply Absolute Error (ITAE) and a Fuzzy-Logic Controller (FLC).

Keywords:

Bio-inspired control, Particle Swarm Optimization, Ball and beam control, Balancing control, Position control.

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