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Robot head position balancing using FOPID controller

Mohamad Azhar, Mohamad Nafis and Toha @ Tohara, Siti Fauziah and Abu Hanifah, Rabiatuladawiah and Ahmad, Salmiah and Julai, Sabariah (2021) Robot head position balancing using FOPID controller. TELKOMNIKA Telecommunication Computing Electronics and Control, 99 (1). pp. 1-8. ISSN 1693-6930 E-ISSN 2302-9293 (In Press)

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Abstract

Assistive technology for visually impaired and blind people is a research field that is gaining interest from researchers. Rovision is a robot that is capable to guide the visually impaired person to move around by sensing obstacles. However, as the robot manoeuvre in different place and environment, sensors attached on the robot may move and not fix in their designed position. Thus, the sensing area deviates. Therefore, the purpose of this research is to develop a control system which can control sensors position on Rovision, fix at a desired position. Before designing a controller, modelling of the system is done using mathematical and physical modelling. Derivation of mathematical modelling is done based on the inverted pendulum concept. Solidwork software is used to model Rovision in 3D virtual environment, before translated it into block diagram through Simscape add on in MATLAB. PID and Fractional Order Proportional Integral Derivative (FOPID) controller were designed using Simulink software and implemented into Rovision block diagram. The system performance is simulated with the implementation of controller in Simulink, before the controller is implemented in real hardware. The simulated result of system performance with implementation of controller is better than uncontrolled, where 0% steady-state error is produced using both controllers. FOPID controller produce better system performance than PID controller. FOPID controller manages to reduce percentage overshoot of the system with only 1.5% compared to PID 22%. The settling time of the system produce by FOPID controller is only 1.2s compared to 1.3s when using PID controller.

Item Type: Article (Journal)
Uncontrolled Keywords: PID controller, FOPID controller, Assistive device, Physical modelling, Simscape
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ170 Mechanics applied to machinery. Dynamics
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering
Kulliyyah of Engineering > Department of Mechanical Engineering
Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Dr. Siti Fauziah Toha
Date Deposited: 23 Dec 2021 18:02
Last Modified: 23 Dec 2021 18:02
URI: http://irep.iium.edu.my/id/eprint/93990

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