Page 48 - IJEEE-2023-Vol19-ISSUE-1

44 | Mohsin, Aldair & Al-Hussaibi

TABLE V issue.
The Key Values Response of Simulation Results for Bottom The PID controller is designed for a TWSBR, and its optimal
parameters are determined by an Auto-tuner tool software. The
Layer. validity of the Simscape Multibody model is described by
utilizing the TWSBR model state-space formula in the method
Mass Self-Balancing Rise Overshoot steady-state of generating LQR controller optimal parameters and
(kg) Time Time (%) error integrating them with the Simscape environment. According to
(seconds) simulation results, the PID controller is faster at the response
0 (seconds) 61.6 0 and disturbance rejection than the LQR controller. However,
0.0278 the LQR controller has the ability to control all four states of
0.5 the system under the control target, including wheel cart
position and robot angle for the TWSBR Simscape model. For
1 0.758 0.0438 82 0 controller robustness verification purposes, three different
weights have been added to each layer. The robustness of the
2 1.88 0.0537 118 0 controller was investigated by comparing the three layers to
0 determine which of them can be suitable for carrying loaded
3 6.65 0.0606 164 weights while maintaining the fastest computed stability in the
presence of road disturbances. The transient response for the
V. CONCLUSIONS key values of the simulation results was provided.

The TWSBR Simscape Multibody (SimMechanics) model has CONFLICT OF INTEREST
been created as a different design environment in this paper.
Also, the modeling and simulation in three dimensions are The authors have no conflict of relevant interest to this
visualized with a robustness control approach by analyzing a article.
TWSBR in Simscape library environment without depending
on mathematical equation modeling to solve the balancing

Fig.13: Robot inclination responses in three scenarios are 1, 2, 3 kg of extra weight are added to the top layer under road
disturbances.