Title :
Model-based fuzzy control application to a self-balancing two-wheeled inverted pendulum
Author :
Wang, Wen-June ; Huang, Cheng-Hao
Author_Institution :
Dept. of Electr. Eng., Nat. Central Univ., Jhongli, Taiwan
Abstract :
This paper presents a fuzzy parallel distributed compensation (PDC) control design for balancing a two-wheeled inverted pendulum (TWIP). A Takagi-Sugeno (T-S) fuzzy model can be firstly constructed from the nonlinear system model of the TWIP. Based on the T-S fuzzy model, a PDC controller is designed with the aid of linear matrix inequality (LMI) concept. The stability of the fuzzy balance control can be guaranteed by solving the inequalities of LMI. Finally, one simulation and its equivalent experiment are given to demonstrate the effectiveness and feasibility of the control scheme.
Keywords :
compensation; control system synthesis; distributed control; fuzzy control; linear matrix inequalities; nonlinear control systems; pendulums; Takagi-Sugeno fuzzy model; control design; fuzzy balance control stability; fuzzy parallel distributed compensation; linear matrix inequality; model-based fuzzy control application; nonlinear system model; self-balancing two-wheeled inverted pendulum; Control design; Equations; Fuzzy control; Fuzzy systems; Nonlinear systems; Stability; Takagi-Sugeno model; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
Saint Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
DOI :
10.1109/CCA.2009.5281126
