A Comparative Assessment between LQR and PID Strategies in Control of Two Wheeled Vehicle

Abstract

The Modelling and control design of Two Wheel Vehicle represents an open and a challenging problem in terms of the complexity in these kind of vehicles. This article aims to represent a comparative analysis of two strategies of control which are modern controller LQR and Conventional Controller PID for the two wheeled vehicle. The main goal is to compare their performances in terms of the time specification and to determine the best control strategy. We begin our development with the implementation of the dynamic model of the two wheeled vehicle using Lagrange modeling with holonomic constraints. Further, the article deals with analyzing the eigenvalues of the linearized dynamic system at which the two wheeled vehicle lean and steer are stable. This research targets the development of the two controllers: PID and LQR. Those controllers are used to control both steer angle, and lean rate angle of two wheeled vehicle. The study includes as well a comparative assessment of those control strategies in terms of performance.