Robot Control Design Using Fractional Order Control

Abstract

In this project, design and implementation of self-balancing two wheeled robot system has been done successfully. PID (Proportional integral derivative) control, FOPID (Fractional order proportional integral derivative) control and LQR(Linear quadratic regulator) has been done successfully on MATLAB simulation and do the comparative analysis. The PID and FOPID control algorithms are successfully implemented on the hardware (self-balancing two wheeled robot) system and it has been proved that fractional order control gives better response compare to integer order control.