Análisis comparativo entre un controlador difuso, un controlador LQR con filtro de Kalman y un controlador PID para un robot móvil pendular

Abstract

A mobile pendular robot presents a dynamic similar to an inverted pendulum being an example of a non-linear and unstable system with a clear need of control. Despite several papers have been published dealing with the control issue of this plant from different points of view, these are limited to a visual inspection of the controllers response curves, which does not offer a suitable selection criteria to determine the advantages of one controller over another. This document presents a comparison of a fuzzy PD controller with two linear controllers: a PID and a LQR with Kalman filter applied to a mobile pendular robot, using numeric selection criteria, such as performance indexes.