WCA Optimized Fuzzy PD controller for Stabilizing the Two Wheel Self-Balancing Robot

An inverted pendulum inspired Two wheeled self-balancing robot (TWSBR) finds several applications in real life. It can also be used to test the working of different control algorithms. In this thesis work the two-wheeled system's transfer function is modelled. In this thesis work the two-wheeled system's transfer function is modelled. Further, for performing the simulation for stabilizing the system three different controllers namely PID, Fractional order PID (FOPID) and Fuzzy PD (FzPD) have been employed. It is common knowledge that controllers give better performance with proper values of the several parameters. These parameters can be adjusted to improve the controller's response. In this work water cycle algorithm (WCA) has been used to tune the parameters of all three controllers. Comparative analysis among different controllers shows that FzPD controller outperforms the PID and FOPID controller in terms of stabilizing the system. Different graphs have been shown in the thesis work to demonstrates the working of the simulation.