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Table 6 Gain values for the three control schemes

From: PID, BFO-optimized PID, and PD-FLC control of a two-wheeled machine with two-direction handling mechanism: a comparative study

Output parameter Gain parameter PID BFO-PID PD-FLC
Loop 1
δ R Kp 1 80 10.255 7
Kd 1 75 0.016 3.5
Ki 1 0.05 15.05 0
Loop 2
δ L Kp 2 80 10.255 7
Kd 2 75 0.016 3.5
Ki 2 0.05 15.05 0
Loop 3
θ Kp 3 80 − 1.733 7
Kd 3 9 − 0.0693 1.5
Ki 3 0.02 0.0835 0
Loop 4
h 1 Kp 4 8 10.3279 4.5
Kd 4 10 7.3378 6
Ki 4 0.01 0.013 0
Loop 5
h 2 Kp 5 27 50.1502 14
Kd 5 32 30.7237 16
Ki 5 0.05 0.027 0