%0 Journal Article
	%A M. Almeshal and  M. O. Tokhi and  K. M. Goher
	%D 2012
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 70, 2012
	%T Stabilization of a New Configurable Two- Wheeled Machine Using a PD-PID and a Hybrid FL Control Strategies: A Comparative Study
	%U https://publications.waset.org/pdf/3753
	%V 70
	%X A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque.

	%P 2032 - 2039