A Comparison of Controllers for Balancing Two Wheeled Inverted Pendulum Robot

One of the challenging tasks concerning two wheeled inverted pendulum (TWIP) mobile robot is balancing its tilt to upright position, this is due to its inherently open loop instability. This paper presents an experimental comparison between model based controller and non-model based controllers in balancing the TWIP mobile robot. A Fuzzy Logic Controller (FLC) which is a non-model based controller and a Linear Quadratic Controller (LQR) which is a model-based controller, and the conventional controller, Proportional Integral Derivative (PID) were implemented and compared on a real time TWIP mobile robot. The FLC controller performance has given superior result as compared to LQR and PID in terms of speed response but consumes higher energy. Index Term-Two Wheeled Inverted Pendulum (TWIP), Fuzzy Logic Controller (FLC), Linear Quadratic Controller (LQR), Euler Lagrange equations.