Reduced order modelling based control of two wheeled mobile robot

This paper proposes a novel technique to design a pre-specified structure controller for balancing control of two wheeled mobile robot via reduced order modelling using cuckoo search algorithm. As the two wheeled mobile robot is an unstable system with various uncertainties and the controllers, available in the literature, comes up with higher order, the overall system becomes complex from analysis and manufacturing point of view. Therefore, in this paper, a lower order pre-specified structure controller is designed which is efficient enough to handle uncertain dynamics. The results of proposed controllers are compared with the results of controller designed by genetic algorithm, particle swarm optimization, Schur analysis, balanced truncation, modal truncation and conventional PD controllers. It is revealed that the proposed controller exhibit better performance comparatively. The performance of the higher and lower order controllers is also analysed with perturbed two wheeled mobile robot in terms of time response specifications and performance indices such as integral square error, integral absolute error and integral time absolute error.