Two-Wheeled LEGO EV3 Robot Stabilisation Control Using Fuzzy Logic Based PSO Algorithm

Authors

  • M. F. Maharuddin Faculty of Electrical & Electronic Engineering, Universiti Malaysia Pahang, 26600 Pekan Pahang
  • N. M. Abdul Ghani Faculty of Electrical & Electronic Engineering, Universiti Malaysia Pahang, 26600 Pekan Pahang
  • N. F. Jamin Faculty of Electrical & Electronic Engineering, Universiti Malaysia Pahang, 26600 Pekan Pahang

Keywords:

Lego EV3 Robot, Fuzzy Logic Control, Particle Swarm Optimization, Two-Wheeled Stabilisation,

Abstract

This paper presents a control system design to stabilise a two-wheeled Lego EV3 robot. This robot is developed based on the inverted pendulum. The mathematical modelling is derived based on this robot and using Euler Lagrange equation and represented in Simulink block diagram. The fuzzy logic controller is used to stabilise this robot with Particle Swarm Optimization algorithm for optimum performance of the system. The result of the fuzzy logic controller without optimisation is compared with the fuzzy logic controller with optimisation. Using the Simulink block diagram, the result of optimum tilt angle and control input signal are presented. The results show that the fuzzy logic controller with optimisation is able to improve the performance of the solution when compared to the fuzzy logic controller without optimisation.

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Published

2018-07-04

How to Cite

Maharuddin, M. F., Abdul Ghani, N. M., & Jamin, N. F. (2018). Two-Wheeled LEGO EV3 Robot Stabilisation Control Using Fuzzy Logic Based PSO Algorithm. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 10(2-5), 149–153. Retrieved from https://jtec.utem.edu.my/jtec/article/view/4402

Issue

Vol. 10 No. 2-5: Embracing The 4th Industrial Revolution: Innovation in Telecommunication, Electronic & Computer Engineering I

Section

Articles

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